Haberdashery

common/params_keys.h

@@ -284,7 +284,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"GMDashSpoofOffsets", {PERSISTENT, BOOL, "0", "0", 2}},
     {"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"GMStockDashWhenNotEngaged", {PERSISTENT, BOOL, "0", "0", 2}},
     {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2}},
     {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},
     {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0"}},

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -68,14 +68,13 @@ def should_spoof_dash_speed(CP, starpilot_toggles):
   return True
 
 
-def should_send_acc_dashboard_status(CP, dash_speed_spoof_active, enabled=True, stock_dash_when_not_engaged=False):
+def should_send_acc_dashboard_status(CP, dash_speed_spoof_active):
   status_car = CP.carFingerprint not in CC_ONLY_CAR or CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
   volt_camera_no_camera = (
     CP.carFingerprint == CAR.CHEVROLET_VOLT_CAMERA and
     bool(getattr(CP, "flags", 0) & GMFlags.NO_CAMERA.value)
   )
-  should_spoof = dash_speed_spoof_active and (enabled or not stock_dash_when_not_engaged)
-  return status_car and (should_spoof or volt_camera_no_camera)
+  return status_car and (dash_speed_spoof_active or volt_camera_no_camera)
 
 
 def get_acc_dashboard_fcw_alert(hud_alert, CS):
@@ -93,29 +92,6 @@ 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,
@@ -726,12 +702,10 @@ class CarController(CarControllerBase):
                                                                idx, CC.enabled, near_stop, at_full_stop, self.CP))
             CS.auto_hold_engaged = False
 
-        stock_dash_when_not_engaged = getattr(starpilot_toggles, "gm_stock_dash_when_not_engaged", False)
-        if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active, CC.enabled, stock_dash_when_not_engaged):
-          acc_dashboard_status = get_acc_dashboard_status_values(CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, CS)
+        if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active):
           fcw_alert = get_acc_dashboard_fcw_alert(hud_alert, CS)
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN,
-                                                              acc_dashboard_status, fcw_alert))
+          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))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)

opendbc_repo/opendbc/car/gm/carstate.py

@@ -90,12 +90,6 @@ 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:
@@ -307,12 +301,6 @@ 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

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

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

@@ -10,7 +10,6 @@ from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_butt
 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,
@@ -265,33 +264,6 @@ class TestGMCarController:
 
     assert should_send_acc_dashboard_status(cp, dash_speed_spoof_active=False)
 
-  def test_stock_dash_toggle_suppresses_disabled_dash_spoof(self):
-    cp = SimpleNamespace(carFingerprint=CAR.CADILLAC_XT4, flags=0)
-
-    assert should_send_acc_dashboard_status(cp, dash_speed_spoof_active=True, enabled=False)
-    assert not should_send_acc_dashboard_status(
-      cp,
-      dash_speed_spoof_active=True,
-      enabled=False,
-      stock_dash_when_not_engaged=True,
-    )
-    assert should_send_acc_dashboard_status(
-      cp,
-      dash_speed_spoof_active=True,
-      enabled=True,
-      stock_dash_when_not_engaged=True,
-    )
-
-  def test_stock_dash_toggle_keeps_no_camera_exception(self):
-    cp = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA, flags=GMFlags.NO_CAMERA.value)
-
-    assert should_send_acc_dashboard_status(
-      cp,
-      dash_speed_spoof_active=True,
-      enabled=False,
-      stock_dash_when_not_engaged=True,
-    )
-
   def test_acc_dashboard_no_camera_exception_is_volt_camera_only(self):
     assert not should_send_acc_dashboard_status(
       SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA, flags=0),
@@ -385,14 +357,9 @@ class TestGMCarController:
     msg = gmcan.create_acc_dashboard_command(
       packer,
       0,
-      {
-        "ACCCruiseState": 0,
-        "ACCLeadCar": 1,
-        "ACCResumeButton": 0,
-        "ACCSpeedSetpoint": 100,
-        "ACCGapLevel": 3,
-        "ACCCmdActive": 1,
-      },
+      True,
+      100,
+      SimpleNamespace(leadDistanceBars=3, leadVisible=True),
       0x2,
     )
 
@@ -400,23 +367,26 @@ class TestGMCarController:
 
     assert parser.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] == 2
 
-  def test_acc_dashboard_command_can_replay_stock_status_payload(self):
+  def test_acc_dashboard_command_uses_openpilot_hud_when_disengaged(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_ASCM][Bus.pt])
+    parser = CANParser(DBC[CAR.CHEVROLET_VOLT_ASCM][Bus.pt], [("ASCMActiveCruiseControlStatus", 0)], 0)
     msg = gmcan.create_acc_dashboard_command(
       packer,
       0,
-      {
-        "ACCCruiseState": 0,
-        "ACCLeadCar": 1,
-        "ACCResumeButton": 0,
-        "ACCSpeedSetpoint": 50,
-        "ACCGapLevel": 2,
-        "ACCCmdActive": 0,
-      },
+      False,
+      50,
+      SimpleNamespace(leadDistanceBars=2, leadVisible=True),
       0x3,
     )
 
-    assert msg[1].hex() == "010023200113"
+    parser.update([0, [msg]])
+    values = parser.vl["ASCMActiveCruiseControlStatus"]
+
+    assert values["ACCSpeedSetpoint"] == 50
+    assert values["ACCGapLevel"] == 0
+    assert values["ACCCmdActive"] == 0
+    assert values["ACCLeadCar"] == 1
+    assert values["FCWAlert"] == 3
 
   def test_acc_dashboard_fcw_alert_prefers_openpilot_alert(self):
     cs = SimpleNamespace(
@@ -449,45 +419,3 @@ 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,
-    }

selfdrive/ui/layouts/settings/starpilot/vehicle.py

@@ -145,12 +145,6 @@ class VehicleSettingsManagerView(AetherInteractiveMixin, Widget):
         "set_state": lambda s: self._controller._on_toggle("GMDashSpoofOffsets"),
       })
     if cs.isGM and cs.hasOpenpilotLongitudinal:
-      toggles.append({
-        "title": tr("Stock Dash Disengaged"),
-        "subtitle": tr("Use the stock GM dash set speed while openpilot is not engaged."),
-        "get_state": lambda: self._controller._params.get_bool("GMStockDashWhenNotEngaged"),
-        "set_state": lambda s: self._controller._on_toggle("GMStockDashWhenNotEngaged"),
-      })
       toggles.append({
         "title": tr("Remote Start Panda"),
         "get_state": lambda: self._controller._params.get_bool("RemoteStartBootsComma"),

starpilot/common/safe_mode.py

@@ -184,7 +184,6 @@ SAFE_MODE_MANAGED_KEYS = (
   "GMAutoHold",
   "GMPedalLongitudinal",
   "GMDashSpoofOffsets",
-  "GMStockDashWhenNotEngaged",
   "LongPitch",
 )
 

starpilot/common/starpilot_variables.py

@@ -1329,10 +1329,6 @@ class StarPilotVariables:
       "GMDashSpoofOffsets",
       condition=toggle.car_make == "gm" and toggle.has_pedal,
     )
-    toggle.gm_stock_dash_when_not_engaged = self.get_value(
-      "GMStockDashWhenNotEngaged",
-      condition=toggle.car_make == "gm" and toggle.openpilot_longitudinal,
-    )
     toggle.long_pitch = self.get_value(
       "LongPitch",
       condition=toggle.openpilot_longitudinal and toggle.car_make == "gm",

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -2417,13 +2417,6 @@
         "data_type": "bool",
         "ui_type": "toggle"
       },
-      {
-        "key": "GMStockDashWhenNotEngaged",
-        "label": "Stock Dash When Disengaged",
-        "description": "Use the stock GM dashboard set speed while openpilot is not engaged. When off, StarPilot keeps the existing dashboard spoof behavior.",
-        "data_type": "bool",
-        "ui_type": "toggle"
-      },
       {
         "key": "LongPitch",
         "label": "Smooth Pedal Response on Hills",

starpilot/ui/qt/offroad/vehicle_settings.cc

@@ -173,7 +173,6 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
     {"GMToggles", tr("General Motors Settings"), tr("<b>StarPilot features for General Motors vehicles.</b>"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal For Longitudinal"), tr("<b>Use the pedal interceptor for full longitudinal control</b> on supported GM vehicles."), ""},
     {"GMDashSpoofOffsets", tr("Apply Offsets To Dash Spoof"), tr("<b>On GM pedal-long cars, add the configured set-speed offset</b> to the spoofed dash set speed so it matches the on-screen set speed."), ""},
-    {"GMStockDashWhenNotEngaged", tr("Stock Dash When Disengaged"), tr("<b>Use the stock GM dashboard set speed while openpilot is not engaged.</b><br><br>When off, StarPilot keeps the existing dashboard spoof behavior."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
     {"RemoteStartBootsComma", tr("Remote Start Boots comma"), tr("<b>Use the remote-start GM panda firmware at boot.</b><br><br>Required for GM remote-start startup signal behavior."), ""},
     {"RemapCancelToDistance", tr("Remap Cancel Button"), tr("<b>On pedal-interceptor Bolts, treat the steering-wheel CANCEL button as an extra mappable button.</b>"), ""},

starpilot/ui/qt/offroad/vehicle_settings.h

@@ -23,8 +23,8 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"GMPedalLongitudinal", "GMDashSpoofOffsets", "GMStockDashWhenNotEngaged", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
-  QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "GMDashSpoofOffsets", "GMStockDashWhenNotEngaged", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
+  QSet<QString> gmKeys = {"GMPedalLongitudinal", "GMDashSpoofOffsets", "LongPitch", "RemoteStartBootsComma", "RemapCancelToDistance", "VoltSNG"};
+  QSet<QString> longitudinalKeys = {"FrogsGoMoosTweak", "GMDashSpoofOffsets", "LongPitch", "RemapCancelToDistance", "SNGHack", "VoltSNG"};
   QSet<QString> subaruKeys = {"SubaruSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
   QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SDSUSupport", "SNGSupport"};