Toyota: forward openpilot FCW to cluster when engaged (#25677)

* move ui message handling out of condition

* relay openpilot fcw to car

* only send normal fcw if DSU is unplugged

* add comment

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: b3e4eb15dc

selfdrive/car/toyota/carcontroller.py

@@ -125,6 +125,10 @@ class CarController:
 
     self.last_standstill = CS.out.standstill
 
+    # handle UI messages
+    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
+    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
+
     # we can spam can to cancel the system even if we are using lat only control
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
@@ -133,10 +137,10 @@ class CarController:
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
+        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
+        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
@@ -149,9 +153,6 @@ class CarController:
       # ui mesg is at 1Hz but we send asap if:
       # - there is something to display
       # - there is something to stop displaying
-      fcw_alert = hud_control.visualAlert == VisualAlert.fcw
-      steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
-
       send_ui = False
       if ((fcw_alert or steer_alert) and not self.alert_active) or \
          (not (fcw_alert or steer_alert) and self.alert_active):

selfdrive/car/toyota/toyotacan.py

@@ -27,7 +27,7 @@ def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
@@ -38,6 +38,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,
     "ALLOW_LONG_PRESS": 1,
+    "ACC_CUT_IN": fcw_alert,  # only shown when ACC enabled
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)