no fordcan

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>

selfdrive/car/ford/carcontroller.py

@@ -2,7 +2,7 @@ import math
 from cereal import car
 from common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from selfdrive.car.ford import fordcan
+from selfdrive.car.ford.fordcan import create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, create_lka_msg, create_lkas_ui_msg
 from selfdrive.car.ford.values import CANBUS, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -46,16 +46,15 @@ class CarController:
 
     ### acc buttons ###
     if CC.cruiseControl.cancel:
-      can_sends.append(fordcan.create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
     elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
-      can_sends.append(fordcan.create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
     # if stock lane centering isn't off, send a button press to toggle it off
     # the stock system checks for steering pressed, and eventually disengages cruise control
     elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(fordcan.create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
-
 
     ### lateral control ###
     if CC.latActive:
@@ -84,21 +83,20 @@ class CarController:
       precision = 1  # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
 
       self.apply_angle_last = apply_angle
-      can_sends.append(fordcan.create_lka_msg(self.packer, 0, 0))
+      can_sends.append(create_lka_msg(self.packer, 0, 0))
-      can_sends.append(fordcan.create_lat_ctl_msg(self.packer, lca_rq, ramp_type, precision,
+      can_sends.append(create_lat_ctl_msg(self.packer, lca_rq, ramp_type, precision,
                                           0, path_angle, 0, 0))
 
-
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+      can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
+      can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive