add flags/event

selfdrive/car/ford/interface.py

@@ -45,11 +45,13 @@ class CarInterface(CarInterfaceBase):
       pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
       if pscm_config:
         if len(pscm_config.response) != 24:
+          ret.flags |= FordFlags.LKAS_UNAVAILABLE
           ret.dashcamOnly = True
         else:
           config_tja = pscm_config.response[7]  # Traffic Jam Assist
           config_lca = pscm_config.response[8]  # Lane Centering Assist
           if config_tja != 0xFF or config_lca != 0xFF:
+            ret.flags |= FordFlags.LKAS_UNAVAILABLE
             ret.dashcamOnly = True
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
@@ -79,6 +81,8 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
+    elif self.CP.flags & FordFlags.LKAS_UNAVAILABLE:
+      events.add(car.CarEvent.EventName.actuatorsApiUnavailable)
 
     ret.events = events.to_msg()
 

selfdrive/car/ford/values.py

@@ -44,6 +44,8 @@ class CarControllerParams:
 class FordFlags(IntFlag):
   # Static flags
   CANFD = 1
+  # Dynamic flags
+  LKAS_UNAVAILABLE = 2
 
 
 class RADAR:

selfdrive/controls/lib/events.py

@@ -950,6 +950,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
   },
 
+  EventName.actuatorsApiUnavailable: {
+    ET.PERMANENT: NormalPermanentAlert("Missing Actuators API", "Your car may not be supported"),
+    ET.NO_ENTRY: NoEntryAlert("Missing Actuators API", "Your car may not be supported"),
+  },
+
 }