FrogPilot 0.9.7

selfdrive/car/ford/interface.py

@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
@@ -7,15 +7,16 @@ from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
+    ret.dashcamOnly = False
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -67,10 +68,13 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_toggles):
+    ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
@@ -78,4 +82,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret