Ford: show FCW alert on IPC (#27924)

* Ford: show FCW alert on IPC

* forward fcw from ipma

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 47f948c5c6a81d229d9ab74183f4bfe9fe8dc9fb

selfdrive/car/ford/carcontroller.py

@@ -43,6 +43,7 @@ class CarController:
 
     main_on = CS.out.cruiseState.available
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
+    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
 
     ### acc buttons ###
     if CC.cruiseControl.cancel:
@@ -100,7 +101,7 @@ class CarController:
     # send acc ui msg at 5Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                         CS.out.cruiseState.standstill, hud_control,
+                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
                                          CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on

selfdrive/car/ford/fordcan.py

@@ -142,8 +142,8 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
   return packer.make_can_msg("ACCDATA", CAN.main, values)
 
 
-def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
-                      stock_values: dict):
+def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
+                      hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
   assist status.
@@ -214,6 +214,10 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, sta
       "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
     })
 
+  # Forwards FCW alert from IPMA
+  if fcw_alert:
+    values["FcwVisblWarn_B_Rq"] = 1  # FCW visible alert
+
   return packer.make_can_msg("ACCDATA_3", CAN.main, values)