volt

opendbc_repo/opendbc/car/gm/carstate.py

@@ -273,6 +273,7 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
     self.stock_fcw_alert = 0
+    ret.stockFcw = False
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       has_acc_dashboard_status = self.CP.carFingerprint not in CC_ONLY_CAR or self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
       if has_acc_dashboard_status:
@@ -288,8 +289,9 @@ class CarState(CarStateBase):
         # 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"])
+        ret.stockFcw = self.stock_fcw_alert != 0
 
-      if self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
+      if self.CP.carFingerprint not in SDGM_CAR:
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
       else:
         ret.stockAeb = False
@@ -479,7 +481,13 @@ class CarState(CarStateBase):
         ]
         if CP.enableBsm:
           cam_messages.append(("BCMBlindSpotMonitor", 10))
-      elif CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
+      elif CP.carFingerprint in ASCM_INT:
+        # Volt/ASCM-int variants don't reliably have AEBCmd present at startup,
+        # but when it appears we still want to surface OEM AEB state.
+        cam_messages += [
+          ("AEBCmd", 0),
+        ]
+      elif CP.carFingerprint not in SDGM_CAR:
         cam_messages += [
           ("AEBCmd", 10),
         ]

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

@@ -3,9 +3,10 @@ from types import SimpleNamespace
 from parameterized import parameterized
 
 from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, DT_CTRL
+from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
+from opendbc.car.gm.carstate import CarState as GMCarState
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
   get_acc_dashboard_fcw_alert,
@@ -131,6 +132,20 @@ class TestGMInterface:
     assert "ECMAcceleratorPos" not in pt_parser.vl
     assert "EBCMBrakePedalPosition" in pt_parser.vl
 
+  def test_volt_ascm_cam_parser_includes_optional_aeb_cmd(self):
+    cam_parser = GMCarState.get_can_parsers(SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
+      networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
+      flags=0,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableGasInterceptorDEPRECATED=False,
+      enableBsm=False,
+    ))[Bus.cam]
+    aeb_addr = cam_parser.dbc.name_to_msg["AEBCmd"].address
+
+    assert "AEBCmd" in cam_parser.vl
+    assert cam_parser.message_states[aeb_addr].ignore_alive
+
   def test_bolt_gen2_pedal_cancel_remap_sets_alt_exp(self):
     CarInterface = interfaces[CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL]
     fingerprint = _empty_fingerprint()
@@ -317,6 +332,14 @@ class TestGMCarController:
 
     assert get_acc_dashboard_fcw_alert(VisualAlert.none, cs) == 0x3
 
+  def test_acc_dashboard_fcw_alert_falls_back_to_stock_fcw_event(self):
+    cs = SimpleNamespace(
+      stock_fcw_alert=0,
+      out=SimpleNamespace(stockAeb=False, stockFcw=True),
+    )
+
+    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,