Ford: improved ACC UI for OP long (#28114)

* Ford: improved ACC UI for OP long

- Show "stopped" status message on IPC when in standstill, similar to stock
- Prevent the distance control UI from appearing on button press (as
this does not influence OP long).

* set lead indicator and only override stock when OP is controlling long

* match DBC
old-commit-hash: 717bc04ddc

selfdrive/car/ford/carcontroller.py

@@ -99,7 +99,9 @@ class CarController:
       can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
     # send acc ui msg at 5Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
+      can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive,
+                                         CS.out.cruiseState.standstill, hud_control,
+                                         CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive

selfdrive/car/ford/carstate.py

@@ -231,7 +231,7 @@ class CarState(CarStateBase):
       ("FcwMemStat_B_Actl", "ACCDATA_3"),           # FCW enabled setting
       ("AccTGap_B_Dsply", "ACCDATA_3"),             # ACC time gap display setting
       ("CadsAlignIncplt_B_Actl", "ACCDATA_3"),
-      ("AccFllwMde_B_Dsply", "ACCDATA_3"),          # ACC follow mode display setting
+      ("AccFllwMde_B_Dsply", "ACCDATA_3"),          # ACC lead indicator
       ("CadsRadrBlck_B_Actl", "ACCDATA_3"),
       ("CmbbPostEvnt_B_Dsply", "ACCDATA_3"),        # AEB event status
       ("AccStopMde_B_Dsply", "ACCDATA_3"),          # ACC stop mode display setting

selfdrive/car/ford/fordcan.py

@@ -123,9 +123,11 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: b
   return packer.make_can_msg("ACCDATA", CANBUS.main, values)
 
 
-def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
+def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
+                      stock_values: dict):
   """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
+  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
+  assist status.
 
   Stock functionality is maintained by passing through unmodified signals.
 
@@ -181,6 +183,16 @@ def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_v
   values.update({
     "Tja_D_Stat": status,        # TJA status
   })
+
+  if CP.openpilotLongitudinalControl:
+    values.update({
+      "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
+      "AccTGap_B_Dsply": 0,                                       # Show time gap control UI
+      "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
+      "AccStopMde_B_Dsply": 1 if standstill else 0,
+      "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
+    })
+
   return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)