Ford: cleanup long control and send stopping signal (#28110)

Co-authored-by: Shane Smiskol <shane@smiskol.com>

selfdrive/car/ford/carcontroller.py

@@ -6,6 +6,7 @@ from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create
   create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
 from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
 
+LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
@@ -83,15 +84,13 @@ class CarController:
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
-      precharge_brake = accel < -0.1
-      if accel > -0.5:
-        gas = accel
-        decel = False
-      else:
+      gas = accel
+      decel = accel < 0.0
+      if accel < -0.5:
         gas = -5.0
-        decel = True
 
-      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
+      stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, decel, stopping))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

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_msg(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, decel: bool, stopping: bool):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -111,8 +111,10 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, precharg
     "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
     "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
     "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
-    "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0,  # Pre-charge brake request: 0=No, 1=Yes
+    "AccResumEnbl_B_Rq": 1 if long_active else 0,
+    "AccBrkPrchg_B_Rq": 1 if decel else 0,            # Pre-charge brake request: 0=No, 1=Yes
     "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
+    "AccStopStat_B_Rq": 1 if stopping else 0,
   }
   return packer.make_can_msg("ACCDATA", CANBUS.main, values)