Skip harness relay check if camera is missing

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>

panda/board/safety.h

@@ -275,7 +275,7 @@ void generic_rx_checks(bool stock_ecu_detected) {
   regen_braking_prev = regen_braking;
 
   // check if stock ECU is on bus broken by car harness
-  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
+  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected && !gm_skip_relay_check) {
     relay_malfunction_set();
   }
 }

panda/board/safety/safety_gm.h

@@ -98,6 +98,7 @@ bool gm_pcm_cruise = false;
 bool gm_cc_long = false;
 bool gm_has_acc = true;
 bool gm_pedal_long = false;
+bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
 
 static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
@@ -325,6 +326,7 @@ static safety_config gm_init(uint16_t param) {
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
   gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
+  gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
   enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
 

panda/python/__init__.py

@@ -235,6 +235,7 @@ class Panda:
   FLAG_GM_HW_SDGM = 4
   FLAG_GM_CC_LONG = 8
   FLAG_GM_HW_ASCM_LONG = 16
+  FLAG_GM_NO_CAMERA = 32
   FLAG_GM_NO_ACC = 64
   FLAG_GM_PEDAL_LONG = 128  # TODO: This can be inferred
   FLAG_GM_GAS_INTERCEPTOR = 256

selfdrive/car/gm/carstate.py

@@ -55,7 +55,7 @@ class CarState(CarStateBase):
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.loopback_lka_steering_cmd_updated:
       self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
@@ -179,7 +179,7 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     messages = []
-    if CP.networkLocation == NetworkLocation.fwdCamera:
+    if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]

selfdrive/car/gm/interface.py

@@ -22,6 +22,8 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 PEDAL_MSG = 0x201
+CAM_MSG = 0x320  # AEBCmd
+                 # TODO: Is this always linked to camera presence?
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
@@ -299,6 +301,11 @@ class CarInterface(CarInterfaceBase):
     if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 
+    # Exception for flashed cars, or cars whose camera was removed
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
+      ret.flags |= GMFlags.NO_CAMERA.value
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
+
     if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 

selfdrive/car/gm/values.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, IntFlag
 
 from cereal import car
 from openpilot.common.params import Params
@@ -266,6 +266,7 @@ class CanBus:
 class GMFlags(IntFlag):
   PEDAL_LONG = 1
   CC_LONG = 2
+  NO_CAMERA = 4
   NO_ACCELERATOR_POS_MSG = 8
 
 # In a Data Module, an identifier is a string used to recognize an object,