Keep removed-camera Volt traffic off the absent camera bus

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -1200,7 +1200,7 @@ class CarController(CarControllerBase):
       self.bolt_removed_cancel_credit_used = CS.conventional_cancel_credit.credit_ns
       can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
-    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.bolt_cc_profile:
+    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.bolt_cc_profile and not self.volt_camera_removed:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))

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

@@ -91,6 +91,13 @@ class TestVoltAlternateBrake(unittest.TestCase):
         ci = CarInterface(cp)
         packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
         for tick, expected in enumerate(baseline['tx']):
+          # Keep every frozen vehicle-side byte. Only the removed camera's
+          # obsolete PSCM replacement is intentionally absent in this topology.
+          if is_volt_camera_removed(cp):
+            self.assertIn(name, ('removed-0', 'removed-1'))
+            camera_status = [message for message in expected if message[0] == 0x184 and message[2] == 2]
+            self.assertEqual(len(camera_status), int(tick % 10 == 0))
+            expected = [message for message in expected if not (message[0] == 0x184 and message[2] == 2)]
           now = 1_000_000_000 + tick * 10_000_000
           speed = 20. if tick < 40 or tick >= 100 else 0. if tick < 80 else 6.
           active, brake, gas = tick < 60 or tick >= 90, 60 <= tick < 65, 65 <= tick < 70

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

@@ -0,0 +1,60 @@
+"""Route 11177: a removed camera must never receive forwarded or host traffic."""
+import pytest
+
+from opendbc.can import CANPacker
+from opendbc.car import Bus, structs
+from opendbc.car.gm.interface import CarInterface
+from opendbc.car.gm.tests.test_volt_camera_removed import removed_params, feed_removed
+from opendbc.car.gm.tests.test_volt_camera_control import camera_params, feed_camera
+from opendbc.car.gm.values import CAR, DBC
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+@pytest.mark.parametrize('alpha', [False, True])
+@pytest.mark.parametrize('alternate', [False, True])
+def test_removed_camera_controller_uses_only_vehicle_bus(alpha, alternate):
+  cp = removed_params(alpha=alpha, alternate=alternate)
+  ci = CarInterface(cp)
+  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+  sent = []
+  for tick in range(24):
+    now = 1_000_000_000 + tick * 40_000_000
+    cs, _ = feed_removed(ci, packer, now, counter=tick % 4, active=False)
+    assert cs.canValid and not cs.canTimeout
+    cc = structs.CarControl(enabled=False, latActive=False, longActive=False)
+    _, frames = ci.apply(cc.as_reader(), now + 2)
+    assert all(frame[2] == 0 for frame in frames)
+    sent.extend(frames)
+  assert any(frame[0] == 0x180 for frame in sent)
+
+
+@pytest.mark.parametrize('word', [0xC150, 0xC151])
+def test_removed_camera_native_has_no_forwarding_or_camera_transmit(word):
+  safety = libsafety_py.libsafety
+  release = safety.set_safety_hooks(structs.CarParams.SafetyModel.allOutput, 0) != 0
+  assert safety.set_safety_hooks(structs.CarParams.SafetyModel.gm, word) == 0
+  safety.init_tests()
+  if release and word == 0xC151:
+    assert not safety.safety_config_valid()
+    return
+  for bus in (0, 1, 2):
+    for address in range(0x800):
+      assert safety.safety_fwd_hook(bus, address) == -1
+  packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CAMERA][Bus.pt])
+  frame = packer.make_can_msg('PSCMStatus', 2, {})
+  assert not safety.safety_tx_hook(libsafety_py.make_CANPacket(frame[0], frame[2], frame[1]))
+
+
+@pytest.mark.parametrize('alpha', [False, True])
+def test_connected_camera_retains_its_status_delivery(alpha):
+  cp = camera_params(alpha=alpha)
+  ci = CarInterface(cp)
+  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+  sent = []
+  for tick in range(12):
+    now = 1_000_000_000 + tick * 40_000_000
+    cs, _ = feed_camera(ci, packer, now, counter=tick % 4, active=False)
+    assert cs.canValid and not cs.canTimeout
+    _, frames = ci.apply(structs.CarControl().as_reader(), now + 2)
+    sent.extend(frames)
+  assert any(frame[0] == 0x184 and frame[2] == 2 for frame in sent)

opendbc_repo/opendbc/safety/modes/gm.h

@@ -549,6 +549,8 @@ static bool gm_ascm_adas_valid(const CANPacket_t *msg) {
 }
 
 static bool gm_tx_hook(const CANPacket_t *msg) {
+  // This topology has no camera-side receiver after harness interception.
+  if (gm_volt_camera_removed && (msg->bus == 2U)) { return false; }
   const TorqueSteeringLimits GM_STEERING_LIMITS = {
     .max_torque = 300,
     .max_rate_up = 10,
@@ -1093,14 +1095,12 @@ static safety_config gm_init(uint16_t safety_param) {
 
   static const CanMsg GM_VOLT_REMOVED_STOCK_TX_MSGS[] = {
     {0x180, 0, 4, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
-    {0x184, 2, 8, .check_relay = false},
   };
 #ifdef ALLOW_DEBUG
   static const CanMsg GM_VOLT_REMOVED_LONG_TX_MSGS[] = {
     {0x180, 0, 4, .check_relay = false}, {0x315, 0, 5, .check_relay = false},
     {0x2CB, 0, 8, .check_relay = false}, {0x370, 0, 6, .check_relay = false},
     {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
-    {0x184, 2, 8, .check_relay = false},
   };
 #endif
   static RxCheck gm_volt_removed_rx_checks[] = {
@@ -1851,6 +1851,10 @@ static safety_config gm_init(uint16_t safety_param) {
     gm_pcm_cruise = false;
   }
 
+  // A removed Volt camera leaves bus 2 unacknowledged after relay interception.
+  // Forwarding vehicle traffic there fills TX queues and stalls host CAN reads.
+  if (gm_volt_camera_removed) { ret.disable_forwarding = true; }
+
   // ASCM does not forward any messages
   if ((gm_hw == GM_ASCM) && !gm_camera_gateway) {
     ret.disable_forwarding = true;

opendbc_repo/opendbc/safety/tests/test_gm_volt_camera_removed.py

@@ -109,7 +109,7 @@ class TestGmVoltCameraRemoved(unittest.TestCase):
       self.assertEqual(self.safety.safety_fwd_hook(0, 0x184), -1)
       self.assertEqual(self.safety.safety_fwd_hook(2, 0x180), -1)
       for address in (0x315, 0x2CB, 0x370, 0x2CD):
-        self.assertEqual(self.safety.safety_fwd_hook(2, address), -1 if word == 0xC151 else 0)
+        self.assertEqual(self.safety.safety_fwd_hook(2, address), -1)
     self.mode(0xC150)
     self.physical()
     for middle in (5, 0x4007, 0x1005, 4):