From 49220985f434db79de1109625599ec7db0758d69 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 25 Apr 2023 18:15:56 -0700
Subject: [PATCH] ford: cleanup fordcan methods (#28026)

* fordcan: consistent naming

* fordcan cleanup
---
 selfdrive/car/ford/carcontroller.py |  4 +-
 selfdrive/car/ford/fordcan.py       | 70 ++++++++++++++---------------
 2 files changed, 37 insertions(+), 37 deletions(-)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 99072ae975..bff7e93be9 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -2,7 +2,7 @@ from cereal import car
 from common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_angle_limits
-from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
+from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
   create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
 from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
 
@@ -76,7 +76,7 @@ class CarController:
         gas = -5.0
         decel = True
 
-      can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
+      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index d2fb6fad55..9ac514e0aa 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -97,7 +97,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
   return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
 
 
-def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
+def create_acc_msg(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -117,6 +117,40 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec
   return packer.make_can_msg("ACCDATA", CANBUS.main, values)
 
 
+def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
+  """
+  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
+
+  Stock functionality is maintained by passing through unmodified signals.
+
+  Frequency is 20Hz.
+  """
+
+  # Tja_D_Stat
+  if enabled:
+    if hud_control.leftLaneDepart:
+      status = 3  # ActiveInterventionLeft
+    elif hud_control.rightLaneDepart:
+      status = 4  # ActiveInterventionRight
+    else:
+      status = 2  # Active
+  elif main_on:
+    if hud_control.leftLaneDepart:
+      status = 5  # ActiveWarningLeft
+    elif hud_control.rightLaneDepart:
+      status = 6  # ActiveWarningRight
+    else:
+      status = 1  # Standby
+  else:
+    status = 0    # Off
+
+  values = {
+    **stock_values,
+    "Tja_D_Stat": status,
+  }
+  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
+
+
 def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC IPMA/LKAS status.
@@ -168,40 +202,6 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
   return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
 
 
-def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 20Hz.
-  """
-
-  # Tja_D_Stat
-  if enabled:
-    if hud_control.leftLaneDepart:
-      status = 3  # ActiveInterventionLeft
-    elif hud_control.rightLaneDepart:
-      status = 4  # ActiveInterventionRight
-    else:
-      status = 2  # Active
-  elif main_on:
-    if hud_control.leftLaneDepart:
-      status = 5  # ActiveWarningLeft
-    elif hud_control.rightLaneDepart:
-      status = 6  # ActiveWarningRight
-    else:
-      status = 1  # Standby
-  else:
-    status = 0    # Off
-
-  values = {
-    **stock_values,
-    "Tja_D_Stat": status,
-  }
-  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
-
-
 def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
                       bus: int = CANBUS.camera):
   """