LDW HUD message handling

opendbc

@@ -1 +1 @@
-Subproject commit bbb67a97267e8b7e2dfcce5d21d94defe0fffb41
+Subproject commit 1923d7ae2bc31663c720926abec40b7de69a910a

selfdrive/car/volkswagen/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan, pqcan
-from selfdrive.car.volkswagen.values import PQ_CARS, DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
+from selfdrive.car.volkswagen.values import PQ_CARS, DBC_FILES, CANBUS, MQB_LDW_MESSAGES, PQ_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -80,11 +80,9 @@ class CarController():
     # **** HUD Controls ***************************************************** #
 
     if frame % self.ldw_step == 0:
-      # FIXME: Need MQB vs PQ handling of displayed messages here
+      hud_alert = 0
       if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
-        hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
-      else:
-        hud_alert = MQB_LDW_MESSAGES["none"]
+        hud_alert = PQ_LDW_MESSAGES["laneAssistTakeOver"] if self.CP.carFingerprint in PQ_CARS else MQB_LDW_MESSAGES["laneAssistTakeOver"]
 
       if self.CP.carFingerprint in PQ_CARS:
         can_sends.append(pqcan.create_pq_hud_control(self.packer_pt, CANBUS.pt, c.enabled,

selfdrive/car/volkswagen/pqcan.py

@@ -24,6 +24,7 @@ def create_pq_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert,
     "SET_ME_X1": 1,
     "Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
     "Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
+    "LDW_Textbits": hud_alert,
   }
   return packer.make_can_msg("LDW_1", bus, values)
 

selfdrive/car/volkswagen/values.py

@@ -60,11 +60,19 @@ MQB_LDW_MESSAGES = {
   "laneAssistTakeOverUrgent": 4,        # "Lane Assist: Please Take Over Steering" with urgent beep
   "emergencyAssistUrgent": 6,           # "Emergency Assist: Please Take Over Steering" with urgent beep
   "laneAssistTakeOverChime": 7,         # "Lane Assist: Please Take Over Steering" with chime
-  "laneAssistTakeOverSilent": 8,        # "Lane Assist: Please Take Over Steering" silent
+  "laneAssistTakeOver": 8,              # "Lane Assist: Please Take Over Steering" silent
   "emergencyAssistChangingLanes": 9,    # "Emergency Assist: Changing lanes..." with urgent beep
   "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
 }
 
+PQ_LDW_MESSAGES = {
+  "none": 0,                            # Nothing to display
+  "laneAssistUnavail": 1,               # "Lane Assist currently not available."
+  "laneAssistUnavailSysError": 2,       # "Lane Assist system error"
+  "laneAssistUnavailNoSensorView": 3,   # "Lane Assist not available. No sensor view."
+  "laneAssistTakeOver": 4,              # "Lane Assist: Please Take Over Steering"
+  "laneAssistDeactivTrailer": 5,        # "Lane Assist: no function with trailer"
+}
 
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the