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/volkswagen/carcontroller.py

@@ -104,7 +104,7 @@ class CarController:
       # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
       set_speed = hud_control.setSpeed * CV.MS_TO_KPH
       can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
-                                                       lead_distance))
+                                                       lead_distance, CS.personality_profile))
 
     # **** Stock ACC Button Controls **************************************** #
 

selfdrive/car/volkswagen/carstate.py

@@ -151,6 +151,25 @@ class CarState(CarStateBase):
     # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
     self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
 
+    # Driving personalities function
+    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()
+
+      # Change personality upon steering wheel button press
+      distance_button = pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"]
+
+      if distance_button and not self.distance_previously_pressed:
+        self.personality_profile = (self.previous_personality_profile + 2) % 3
+      self.distance_previously_pressed = distance_button
+
+      if self.personality_profile != self.previous_personality_profile:
+        self.fpf.distance_button_function(self.personality_profile)
+        self.previous_personality_profile = self.personality_profile
+
     return ret
 
   def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):

selfdrive/car/volkswagen/mqbcan.py

@@ -125,11 +125,11 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, personality_profile):
   values = {
     "ACC_Status_Anzeige": acc_hud_status,
     "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
-    "ACC_Gesetzte_Zeitluecke": 3,
+    "ACC_Gesetzte_Zeitluecke": 1 if personality_profile == 0 else 3 if personality_profile == 1 else 5,
     "ACC_Display_Prio": 3,
     "ACC_Abstandsindex": lead_distance,
   }

selfdrive/car/volkswagen/pqcan.py

@@ -91,7 +91,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, personality_profile):
   values = {
     "ACA_StaACC": acc_hud_status,
     "ACA_Zeitluecke": 2,