cleanup

selfdrive/car/ford/carcontroller.py

@@ -28,21 +28,17 @@ def __init__(self, dbc_name, CP, VM):
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
-    self.generic_toggle_last = False
 
   def update(self, CC, CS, frame):
     can_sends = []
 
     actuators = CC.actuators
-    pcm_cancel_cmd = CC.cruiseControl.cancel
     hud_control = CC.hudControl
-    lkas_enabled = CC.latActive
 
     main_on = CS.out.cruiseState.available
-    generic_toggle = CS.out.genericToggle
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
 
-    if pcm_cancel_cmd:
+    if CC.cruiseControl.cancel:
       # cancel stock ACC
       can_sends.append(fordcan.spam_cancel_button(self.packer))
 
@@ -53,7 +49,7 @@ def update(self, CC, CS, frame):
 
     # send steering commands at 20Hz
     if (frame % CarControllerParams.LKAS_STEER_STEP) == 0:
-      lca_rq = 1 if lkas_enabled else 0
+      lca_rq = 1 if CC.latActive else 0
 
       # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented
       path_angle = apply_steer
@@ -74,20 +70,19 @@ def update(self, CC, CS, frame):
                                                   path_offset, path_angle, curvature_rate, curvature))
 
 
-    send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != lkas_enabled) or (self.steer_alert_last != steer_alert)
+    send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
     if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, lkas_enabled, steer_alert, CS.lkas_status_stock_values))
+      can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
     if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, lkas_enabled, CS.acc_tja_status_stock_values))
+      can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
-    self.lkas_enabled_last = lkas_enabled
+    self.lkas_enabled_last = CC.latActive
     self.steer_alert_last = steer_alert
-    self.generic_toggle_last = generic_toggle
 
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_steer

selfdrive/car/ford/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.ford.values import TransmissionType, CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -15,8 +15,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "ford"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
-    ret.dashcamOnly = True  # remove once port is completed
+    #ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+    ret.dashcamOnly = True
 
     # Angle-based steering
     # TODO: use curvature control when ready
@@ -73,15 +73,11 @@ def _update(self, c):
 
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    # events
     events = self.create_common_events(ret)
-
     ret.events = events.to_msg()
 
     return ret
 
-  # pass in a car.CarControl
-  # to be called @ 100hz
   def apply(self, c):
     ret = self.CC.update(c, self.CS, self.frame)
     self.frame += 1

selfdrive/car/fw_versions.py

@@ -90,11 +90,6 @@ def p16(val):
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
-FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-FORD_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
-
 
 @dataclass
 class Request:
@@ -187,13 +182,6 @@ class Request:
     [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
     bus=0,
   ),
-  # Ford
-  Request(
-    "ford",
-    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
-    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
-    bus=0,
-  ),
 ]
 
 

selfdrive/car/tests/routes.py

@@ -2,7 +2,6 @@
 from collections import namedtuple
 
 from selfdrive.car.chrysler.values import CAR as CHRYSLER
-from selfdrive.car.ford.values import CAR as FORD
 from selfdrive.car.gm.values import CAR as GM
 from selfdrive.car.honda.values import CAR as HONDA
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
@@ -16,8 +15,6 @@
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.ESCAPE_MK4,
-  FORD.FOCUS_MK4,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,

selfdrive/test/process_replay/test_processes.py

@@ -47,7 +47,7 @@
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "mazda", "tesla", "ford"]
+excluded_interfaces = ["mock", "ford", "mazda", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"