Switch personalities via steering wheel / onroad UI

Added toggle to switch between the personalities via the steering wheel for GM/Toyota/Volkswagen vehicles and an onroad button for other makes.

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/toyota/carcontroller.py

@@ -163,10 +163,10 @@ class CarController:
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, self.reverse_cruise_increase))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, self.reverse_cruise_increase, CS.distance_button))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.reverse_cruise_increase))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.reverse_cruise_increase, CS.distance_button))
 
     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.

selfdrive/car/toyota/carstate.py

@@ -165,6 +165,41 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
+    # Driving personalities function
+    if self.personalities_via_wheel and ret.cruiseState.available:
+      # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2"
+      self.personality_profile = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"] - 1
+
+      # Sync with the onroad UI button
+      if self.param_memory.get_bool("PersonalityChangedViaUI"):
+        self.profile_restored = False
+        self.previous_personality_profile = self.param.get_int("LongitudinalPersonality")
+        self.param_memory.put_bool("PersonalityChangedViaUI", False)
+
+      # Set personality to the previous drive's personality or when the user changes it via the UI
+      if self.personality_profile == self.previous_personality_profile:
+        self.profile_restored = True
+      if not self.profile_restored:
+        self.distance_previously_pressed = not self.distance_previously_pressed
+        self.distance_button = not self.distance_previously_pressed
+
+      if self.profile_restored:
+        if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+          # KRKeegan - Add support for toyota distance button
+          self.distance_button = cp_cam.vl["ACC_CONTROL"]["DISTANCE"]
+
+        elif self.CP.carFingerprint in RADAR_ACC_CAR:
+          # These cars have the acc_control on car can
+          self.distance_button = cp.vl["ACC_CONTROL"]["DISTANCE"]
+
+        elif self.CP.flags & ToyotaFlags.SMART_DSU:
+          self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
+
+        if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
+          self.param.put_int("LongitudinalPersonality", self.personality_profile)
+          self.param_memory.put_bool("PersonalityChangedViaWheel", True)
+          self.previous_personality_profile = self.personality_profile
+
     # Toggle Experimental Mode from steering wheel function
     if self.experimental_mode_via_press and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
       message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
@@ -252,6 +287,9 @@ class CarState(CarStateBase):
         ("PRE_COLLISION", 33),
       ]
 
+    if CP.flags & ToyotaFlags.SMART_DSU:
+      messages.append(("SDSU", 33))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod

selfdrive/car/toyota/toyotacan.py

@@ -33,12 +33,12 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, reverse_cruise):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, reverse_cruise, distance):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
     "ACC_TYPE": acc_type,
-    "DISTANCE": 0,
+    "DISTANCE": distance,
     "MINI_CAR": lead,
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,