Switch personalities via steering wheel / onroad UI

Added toggle to switch between the personalities via the steering wheel or an onroad UI button.

Co-Authored-By: henryccy <104284652+henryccy@users.noreply.github.com>
Co-Authored-By: Jason Jackrel <23621790+thinkpad4by3@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: Kevin Robert Keegan <3046315+krkeegan@users.noreply.github.com>
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>

selfdrive/car/gm/carcontroller.py

@@ -185,7 +185,7 @@ class CarController:
           # Send dashboard UI commands (ACC status)
           send_fcw = hud_alert == VisualAlert.fcw
           can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw, CS.display_menu, CS.personality_profile))
       else:
         # to keep accel steady for logs when not sending gas
         accel += self.accel_g

selfdrive/car/gm/carstate.py

@@ -30,6 +30,11 @@ class CarState(CarStateBase):
     # FrogPilot variables
     self.single_pedal_mode = False
 
+    # FrogPilot variables
+    self.display_menu = False
+
+    self.display_timer = 0
+
   def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_variables):
     ret = car.CarState.new_message()
 
@@ -162,6 +167,45 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
+    # Driving personalities function - Credit goes to Mangomoose!
+    if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
+      # Sync with the onroad UI button
+      if self.fpf.personality_changed_via_ui:
+        self.personality_profile = self.fpf.current_personality
+        self.previous_personality_profile = self.personality_profile
+        self.fpf.reset_personality_changed_param()
+
+      # Check if the car has a camera
+      has_camera = self.CP.networkLocation == NetworkLocation.fwdCamera
+      has_camera &= not self.CP.flags & GMFlags.NO_CAMERA.value
+      has_camera &= not self.CP.carFingerprint in (CC_ONLY_CAR)
+
+      if has_camera:
+        # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2"
+        self.personality_profile = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCGapLevel"] - 1
+      else:
+        if self.CP.carFingerprint in SDGM_CAR:
+          distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+        else:
+          distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+
+        if distance_button and not self.distance_previously_pressed:
+          if self.display_menu:
+            self.personality_profile = (self.previous_personality_profile + 2) % 3
+          self.display_timer = 350
+        self.distance_previously_pressed = distance_button
+
+        # Check if the display is open
+        if self.display_timer > 0:
+          self.display_timer -= 1
+          self.display_menu = True
+        else:
+          self.display_menu = False
+
+      if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
+        self.fpf.distance_button_function(self.personality_profile)
+        self.previous_personality_profile = self.personality_profile
+
     # Toggle Experimental Mode from steering wheel function
     if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
       if self.CP.carFingerprint in SDGM_CAR:

selfdrive/car/gm/gmcan.py

@@ -105,14 +105,15 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 
-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw, display, personality_profile):
   target_speed = min(target_speed_kph, 255)
 
   values = {
     "ACCAlwaysOne": 1,
     "ACCResumeButton": 0,
+    "DisplayDistance": display,
     "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCGapLevel": min(personality_profile + 1, 3),  # 3 "far", 0 "inactive"
     "ACCCmdActive": enabled,
     "ACCAlwaysOne2": 1,
     "ACCLeadCar": lead_car_in_sight,