button

opendbc_repo/opendbc/car/gm/carstate.py

@@ -315,14 +315,8 @@ class CarState(CarStateBase):
       self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
 
+    # Only activate cancel remap when panda safety was configured for it at startup.
     remap_cancel_to_distance = bool(self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE)
-    if not remap_cancel_to_distance:
-      remap_cancel_to_distance = (
-        getattr(starpilot_toggles, "remap_cancel_to_distance", False) and
-        self.CP.openpilotLongitudinalControl and
-        bool(self.CP.flags & GMFlags.PEDAL_LONG.value) and
-        self.CP.carFingerprint in (BOLT_CANCEL_BUTTON_CARS | {CAR.CHEVROLET_MALIBU_HYBRID_CC})
-      )
     malibu_cancel_passthrough = (
       remap_cancel_to_distance and
       self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and

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

@@ -11,6 +11,8 @@ import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.fingerprints import FINGERPRINTS
 from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, GMFlags, GMSafetyFlags
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from openpilot.common.params import Params
 
 CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
 VOLT_CARS = (
@@ -32,6 +34,7 @@ def _test_starpilot_toggles():
     cluster_offset=1.0,
     disable_openpilot_long=False,
     force_fingerprint=False,
+    remap_cancel_to_distance=False,
     vEgoStopping=0.5,
     volt_sng=False,
   )
@@ -121,6 +124,23 @@ class TestGMInterface:
     assert "ECMAcceleratorPos" not in pt_parser.vl
     assert "EBCMBrakePedalPosition" in pt_parser.vl
 
+  def test_bolt_gen2_pedal_cancel_remap_sets_alt_exp(self):
+    CarInterface = interfaces[CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0x201] = 8
+
+    params = Params()
+    toggles = _test_starpilot_toggles()
+    try:
+      params.put_bool("RemapCancelToDistance", True)
+      car_params = CarInterface.get_params(CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, fingerprint, [], alpha_long=False,
+                                           is_release=False, docs=False, starpilot_toggles=toggles)
+    finally:
+      params.remove("RemapCancelToDistance")
+
+    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL.value
+
 
 class TestGMCarController:
   def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):

opendbc_repo/opendbc/safety/modes/gm.h

@@ -225,8 +225,8 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       // Malibu Hybrid pedal-long frames use byte3 bit0 in combinations that can alias
       // CANCEL semantics; don't force a safety disengage on those RX edges.
       bool malibu_cancel_passthrough = remap_cancel_to_distance && gm_bolt_2022_pedal && gm_pedal_long && ((msg->data[3] & 0x1U) != 0U);
-      // Gen1 Bolt pedal-long uses CANCEL as an auxiliary input path.
-      bool bolt_cancel_passthrough = remap_cancel_to_distance && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
+      // No-ACC pedal-long Bolt paths use CANCEL as an auxiliary input path.
+      bool bolt_cancel_passthrough = remap_cancel_to_distance && gm_pedal_long && !gm_has_acc;
 
       // enter controls on falling edge of set or rising edge of resume (avoids fault)
       bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -414,6 +414,20 @@ class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafet
       self._rx(self._pcm_status_msg(enabled))
       self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
 
+  def test_cancel_remap_passthrough_does_not_disable_controls(self):
+    for extra_safety_param in (0, GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL):
+      self.safety.set_safety_hooks(
+        CarParams.SafetyModel.gm,
+        GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_NO_ACC | GMSafetyFlags.FLAG_GM_PEDAL_LONG |
+        GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR | extra_safety_param,
+      )
+      self.safety.init_tests()
+      self.safety.set_alternative_experience(0x40)
+      self._rx(self._pcm_status_msg(True))
+      self.safety.set_controls_allowed(True)
+      self._rx(self._button_msg(Buttons.CANCEL))
+      self.assertTrue(self.safety.get_controls_allowed())
+
   def test_disable_control_allowed_from_cruise(self):
     pass
 
@@ -517,23 +531,6 @@ class TestGmCcLongitudinalPandaSchedSafety(TestGmCcLongitudinalSafety):
     self.assertTrue(self.safety.get_longitudinal_allowed())
     self._rx(self._interceptor_user_gas(0))
     self.assertTrue(self.safety.get_longitudinal_allowed())
-
-  def test_buttons(self):
-    self.safety.set_controls_allowed(0)
-    for btn in range(8):
-      self.assertFalse(self._tx(self._button_msg(btn)))
-
-    self.safety.set_controls_allowed(1)
-    for btn in range(8):
-      self.assertFalse(self._tx(self._button_msg(btn)))
-
-    allowed_btns = {Buttons.UNPRESS, Buttons.RES_ACCEL, Buttons.DECEL_SET, Buttons.CANCEL}
-    for enabled in (True, False):
-      self._rx(self._pcm_status_msg(enabled))
-      for btn in range(8):
-        self.assertEqual(enabled and btn in allowed_btns, self._tx(self._button_msg(btn)))
-
-
 class TestGmVoltAutoHoldCameraSafety(TestGmCameraSafetyBase):
   TX_MSGS = TestGmCameraSafety.TX_MSGS + [[0x315, 0]]
   EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED