alertmanager handles that

selfdrive/car/gm/carcontroller.py

@@ -44,11 +44,11 @@ class CarController():
     self.apply_steer_last = 0
     self.lka_icon_status_last = (False, False)
     self.steer_rate_limited = False
-    self.fcw_frames = 0
 
     self.params = CarControllerParams()
 
     self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
+    self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
 
   def update(self, enabled, CS, frame, actuators,
@@ -59,10 +59,6 @@ class CarController():
     # Send CAN commands.
     can_sends = []
 
-    # FCW: trigger FCWAlert for 100 frames (4 seconds)
-    if hud_alert == VisualAlert.fcw:
-      self.fcw_frames = 100
-
     # STEER
     if (frame % P.STEER_STEP) == 0:
       lkas_enabled = enabled and not CS.out.steerWarning and CS.out.vEgo > P.MIN_STEER_SPEED
@@ -102,12 +98,7 @@ class CarController():
 
     # Send dashboard UI commands (ACC status), 25hz
     if (frame % 4) == 0:
-      # Send FCW if applicable
-      send_fcw = False
-      if self.fcw_frames > 0:
-        send_fcw = True
-        self.fcw_frames -= 1
-
+      send_fcw = hud_alert == VisualAlert.fcw
       can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
 
     # Radar needs to know current speed and yaw rate (50hz),
@@ -118,7 +109,7 @@ class CarController():
     if frame % time_and_headlights_step == 0:
       idx = (frame // time_and_headlights_step) % 4
       can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-      can_sends.append(gmcan.create_adas_headlights_status(self.packer_ch, CanBus.OBSTACLE))
+      can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
 
     speed_and_accelerometer_step = 2
     if frame % speed_and_accelerometer_step == 0:

selfdrive/car/gm/gmcan.py

@@ -109,7 +109,7 @@ def create_adas_headlights_status(packer, bus):
     "Always42": 0x42,
     "Always4": 0x4,
   }
-  return packer.make_can_msg("ASCMHeadlight", values, bus)
+  return packer.make_can_msg("ASCMHeadlight", bus, values)
 
 def create_lka_icon_command(bus, active, critical, steer):
   if active and steer == 1: