Reapply "Ford: detect missing LKAS from EPS configuration (#31821)" (#32518)

* Reapply "Ford: detect missing LKAS from EPS configuration (#31821)"

This reverts commit ffb34e558f.

* catch

* now fix

* clean up

selfdrive/car/ford/interface.py

@@ -39,6 +39,18 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
+    else:
+      # Lock out if the car does not have needed lateral and longitudinal control APIs.
+      # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
+      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.fwVersion) != 24:
+          ret.dashcamOnly = True
+        else:
+          config_tja = pscm_config.fwVersion[7]  # Traffic Jam Assist
+          config_lca = pscm_config.fwVersion[8]  # Lane Centering Assist
+          if config_tja != 0xFF or config_lca != 0xFF:
+            ret.dashcamOnly = True
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]