Validation

• Dongle ID: 4b3cbd6038d07ca6
• Route: TBD

TODO: Add route(s)

• Need to test:
  • Summon from off-road
  • Summon from on-road
  • Autopark
  • Stock LKAS
  • Stock emergency LKAS
  • UI behaviour when engaging autopark
    • Should not allow openpilot to engage
    • Should not show any errors or warnings (only generic unavailable one if attempting to engage)

TODO: Consider adding new event / car state for autoparking

Fixed Autopark failing in Tesla vehicles

Note that Autopark is not normally accessible with openpilot is enabled because it requires TACC to be set instead of Autopilot/FSD which disables autopark for some reason in the car - so for testing purposes in the routes invalidLkasSetting was forcibly disabled but this change is not included in this PR as that is a separate change and comes with some interesting implications so keeping them separate. That will come in a future PR.

Previously in the code we had autopark defined from the DI_autoparkState message, which as it turned out after extensive testing, is actually not used by autopark at all but instead summon / smart summon - so I have renamed related variables to reflect this. I also clarified in a comment that it only works when the car was off-road when starting summon, which is the current behaviour in master not new in my branch - and added a TODO to fix this later.

We use the new ACTIVE_AUTOPARK state in the DAS_autopilotState message to determine whether or not autopark is active, and, like summon, we block messages and enable pass-through when it is. We also ensure that cruiseState.enabled = false in the car state also matches this new behaviour.