volt aeb

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -92,6 +92,29 @@ def get_acc_dashboard_fcw_alert(hud_alert, CS):
   return 0
 
 
+def get_acc_dashboard_status_values(enabled, target_speed_kph, hud_control, CS):
+  if enabled:
+    return {
+      "ACCCruiseState": 0,
+      "ACCLeadCar": int(hud_control.leadVisible) & 0x1,
+      "ACCResumeButton": 0,
+      "ACCSpeedSetpoint": target_speed_kph,
+      "ACCGapLevel": int(hud_control.leadDistanceBars) & 0x3,
+      "ACCCmdActive": 1,
+    }
+
+  # Replay the stock camera dashboard context when openpilot long is enabled
+  # but openpilot itself is not actively driving the ACC cluster state.
+  return {
+    "ACCCruiseState": int(getattr(CS, "stock_acc_cruise_state", 0)) & 0x7,
+    "ACCLeadCar": int(getattr(CS, "stock_acc_lead_car", 0)) & 0x1,
+    "ACCResumeButton": int(getattr(CS, "stock_acc_resume_button", 0)) & 0x1,
+    "ACCSpeedSetpoint": float(getattr(CS, "stock_acc_speed_setpoint_kph", 0.0)),
+    "ACCGapLevel": int(getattr(CS, "stock_acc_gap_level", 0)) & 0x3,
+    "ACCCmdActive": int(getattr(CS, "stock_acc_cmd_active", 0)) & 0x1,
+  }
+
+
 ECM_CRUISE_SPOOF_CARS = {
   CAR.CHEVROLET_BOLT_CC_2017,
   CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -703,9 +726,10 @@ class CarController(CarControllerBase):
             CS.auto_hold_engaged = False
 
         if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active):
+          acc_dashboard_status = get_acc_dashboard_status_values(CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, CS)
           fcw_alert = get_acc_dashboard_fcw_alert(hud_alert, CS)
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, fcw_alert))
+          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN,
+                                                              acc_dashboard_status, fcw_alert))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)

opendbc_repo/opendbc/car/gm/carstate.py

@@ -81,6 +81,12 @@ class CarState(CarStateBase):
     self.lkas_enabled = 0
     self.pcm_acc_status = AccState.OFF
     self.stock_fcw_alert = 0
+    self.stock_acc_cruise_state = 0
+    self.stock_acc_lead_car = 0
+    self.stock_acc_resume_button = 0
+    self.stock_acc_speed_setpoint_kph = 0.0
+    self.stock_acc_gap_level = 0
+    self.stock_acc_cmd_active = 0
 
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
@@ -273,6 +279,12 @@ class CarState(CarStateBase):
         acc_dashboard_status = cam_cp.vl["ASCMActiveCruiseControlStatus"]
         if self.CP.carFingerprint not in CC_ONLY_CAR:
           ret.cruiseState.speed = acc_dashboard_status["ACCSpeedSetpoint"] * CV.KPH_TO_MS
+        self.stock_acc_cruise_state = int(acc_dashboard_status["ACCCruiseState"])
+        self.stock_acc_lead_car = int(acc_dashboard_status["ACCLeadCar"])
+        self.stock_acc_resume_button = int(acc_dashboard_status["ACCResumeButton"])
+        self.stock_acc_speed_setpoint_kph = float(acc_dashboard_status["ACCSpeedSetpoint"])
+        self.stock_acc_gap_level = int(acc_dashboard_status["ACCGapLevel"])
+        self.stock_acc_cmd_active = int(acc_dashboard_status["ACCCmdActive"])
         # Preserve the stock camera FCW level from 0x370 so the controller can
         # replay it when that message is blocked and spoofed by openpilot long.
         self.stock_fcw_alert = int(acc_dashboard_status["FCWAlert"])

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -209,17 +209,18 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 
-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw_alert):
-  target_speed = min(target_speed_kph, 255)
+def create_acc_dashboard_command(packer, bus, status_values, fcw_alert):
+  target_speed = min(max(float(status_values.get("ACCSpeedSetpoint", 0.0)), 0.0), 255.0)
 
   values = {
     "ACCAlwaysOne": 1,
-    "ACCResumeButton": 0,
+    "ACCCruiseState": int(status_values.get("ACCCruiseState", 0)) & 0x7,
+    "ACCResumeButton": int(status_values.get("ACCResumeButton", 0)) & 0x1,
     "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
-    "ACCCmdActive": enabled,
+    "ACCGapLevel": int(status_values.get("ACCGapLevel", 0)) & 0x3,
+    "ACCCmdActive": int(status_values.get("ACCCmdActive", 0)) & 0x1,
     "ACCAlwaysOne2": 1,
-    "ACCLeadCar": hud_control.leadVisible,
+    "ACCLeadCar": int(status_values.get("ACCLeadCar", 0)) & 0x1,
     "FCWAlert": int(fcw_alert) & 0x3,
   }
 

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -9,6 +9,7 @@ from opendbc.car.gm import gmcan
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
   get_acc_dashboard_fcw_alert,
+  get_acc_dashboard_status_values,
   should_send_acc_dashboard_status,
   should_send_cc_button_spam,
   should_spoof_dash_speed,
@@ -259,9 +260,14 @@ class TestGMCarController:
     msg = gmcan.create_acc_dashboard_command(
       packer,
       0,
-      True,
-      100,
-      SimpleNamespace(leadDistanceBars=3, leadVisible=True),
+      {
+        "ACCCruiseState": 0,
+        "ACCLeadCar": 1,
+        "ACCResumeButton": 0,
+        "ACCSpeedSetpoint": 100,
+        "ACCGapLevel": 3,
+        "ACCCmdActive": 1,
+      },
       0x2,
     )
 
@@ -269,6 +275,24 @@ class TestGMCarController:
 
     assert parser.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] == 2
 
+  def test_acc_dashboard_command_can_replay_stock_status_payload(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_ASCM][Bus.pt])
+    msg = gmcan.create_acc_dashboard_command(
+      packer,
+      0,
+      {
+        "ACCCruiseState": 0,
+        "ACCLeadCar": 1,
+        "ACCResumeButton": 0,
+        "ACCSpeedSetpoint": 50,
+        "ACCGapLevel": 2,
+        "ACCCmdActive": 0,
+      },
+      0x3,
+    )
+
+    assert msg[1].hex() == "010023200113"
+
   def test_acc_dashboard_fcw_alert_prefers_openpilot_alert(self):
     cs = SimpleNamespace(
       stock_fcw_alert=1,
@@ -292,3 +316,45 @@ class TestGMCarController:
     )
 
     assert get_acc_dashboard_fcw_alert(VisualAlert.none, cs) == 0x3
+
+  def test_acc_dashboard_status_values_use_openpilot_hud_when_enabled(self):
+    cs = SimpleNamespace(
+      stock_acc_cruise_state=5,
+      stock_acc_lead_car=0,
+      stock_acc_resume_button=1,
+      stock_acc_speed_setpoint_kph=42.0,
+      stock_acc_gap_level=1,
+      stock_acc_cmd_active=0,
+    )
+
+    values = get_acc_dashboard_status_values(True, 105.0, SimpleNamespace(leadDistanceBars=3, leadVisible=True), cs)
+
+    assert values == {
+      "ACCCruiseState": 0,
+      "ACCLeadCar": 1,
+      "ACCResumeButton": 0,
+      "ACCSpeedSetpoint": 105.0,
+      "ACCGapLevel": 3,
+      "ACCCmdActive": 1,
+    }
+
+  def test_acc_dashboard_status_values_reuse_stock_camera_status_when_disabled(self):
+    cs = SimpleNamespace(
+      stock_acc_cruise_state=0,
+      stock_acc_lead_car=1,
+      stock_acc_resume_button=0,
+      stock_acc_speed_setpoint_kph=50.0,
+      stock_acc_gap_level=2,
+      stock_acc_cmd_active=0,
+    )
+
+    values = get_acc_dashboard_status_values(False, 0.0, SimpleNamespace(leadDistanceBars=0, leadVisible=False), cs)
+
+    assert values == {
+      "ACCCruiseState": 0,
+      "ACCLeadCar": 1,
+      "ACCResumeButton": 0,
+      "ACCSpeedSetpoint": 50.0,
+      "ACCGapLevel": 2,
+      "ACCCmdActive": 0,
+    }