Toyota: pass through sway warning system signals

selfdrive/car/toyota/carcontroller.py

@@ -128,8 +128,8 @@ class CarController:
 
     if self.frame % 100 == 0 or send_ui:
       can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
-                                         hud_control.rightLaneVisible, hud_control.leftLaneDepart,
+                                         hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart,
-                                         hud_control.rightLaneDepart, CC.enabled))
+                                         CS.sws_toggle, CS.sws_sensitivity, CS.sws_buzzer, CS.sws_fld, CS.sws_warning, CC.enabled))
 
     if self.frame % 100 == 0 and self.CP.enableDsu:
       can_sends.append(create_fcw_command(self.packer, fcw_alert))

selfdrive/car/toyota/carstate.py

@@ -128,6 +128,12 @@ class CarState(CarStateBase):
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
 
+    self.sws_toggle = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_TOGGLE"])
+    self.sws_sensitivity = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_SENSITIVITY"])
+    self.sws_buzzer = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_BUZZER"])
+    self.sws_fld = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_FLD"])
+    self.sws_warning = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_WARNING"])
+
     return ret
 
   @staticmethod
@@ -226,12 +232,18 @@ class CarState(CarStateBase):
     signals = [
       ("FORCE", "PRE_COLLISION"),
       ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
+      ("LANE_SWAY_TOGGLE", "LKAS_HUD"),
+      ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"),
+      ("LANE_SWAY_BUZZER", "LKAS_HUD"),
+      ("LANE_SWAY_FLD", "LKAS_HUD"),
+      ("LANE_SWAY_WARNING", "LKAS_HUD"),
     ]
 
     # use steering message to check if panda is connected to frc
     checks = [
       ("STEERING_LKA", 42),
       ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
+      ("LKAS_HUD", 1),
     ]
 
     if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):

selfdrive/car/toyota/toyotacan.py

@@ -67,7 +67,7 @@ def create_fcw_command(packer, fcw):
   return packer.make_can_msg("ACC_HUD", 0, values)
 
 
-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, sws_toggle, sws_sensitivity, sws_buzzer, sws_fld, sws_warning, enabled):
   values = {
     "TWO_BEEPS": chime,
     "LDA_ALERT": steer,
@@ -75,18 +75,20 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
     "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
     "BARRIERS" : 1 if enabled else 0,
 
+    # signal pass through
+    "LANE_SWAY_FLD": sws_fld,
+    "LANE_SWAY_BUZZER": sws_buzzer,
+    "LANE_SWAY_WARNING": sws_warning,
+    "LANE_SWAY_SENSITIVITY": sws_sensitivity,
+    "LANE_SWAY_TOGGLE": sws_toggle,
+
     # static signals
     "SET_ME_X02": 2,
     "SET_ME_X01": 1,
     "LKAS_STATUS": 1,
     "REPEATED_BEEPS": 0,
-    "LANE_SWAY_FLD": 7,
-    "LANE_SWAY_BUZZER": 0,
-    "LANE_SWAY_WARNING": 0,
     "LDA_FRONT_CAMERA_BLOCKED": 0,
     "TAKE_CONTROL": 0,
-    "LANE_SWAY_SENSITIVITY": 2,
-    "LANE_SWAY_TOGGLE": 1,
     "LDA_ON_MESSAGE": 0,
     "LDA_SPEED_TOO_LOW": 0,
     "LDA_SA_TOGGLE": 1,