CC long tweaks

selfdrive/car/car_specific.py

@@ -1,6 +1,7 @@
 from cereal import car, log
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.gm.values import GMFlags
 from opendbc.car.interfaces import MAX_CTRL_SPEED
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 
@@ -103,11 +104,14 @@ class CarSpecificEvents:
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
                                                    self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
-      if CS.cruiseState.standstill:
+      if CS.cruiseState.standstill and not self.CP.autoResumeSng:
         events.add(EventName.resumeRequired)
       if CS.vEgo < self.CP.minSteerSpeed:
         events.add(EventName.belowSteerSpeed)
 
+      if (self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled:
+        events.add(EventName.speedTooLow)
+
     elif self.CP.brand == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise)

selfdrive/car/card.py

@@ -11,7 +11,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from opendbc.car import DT_CTRL, structs
+from opendbc.car import DT_CTRL, structs, ButtonType
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
@@ -73,6 +73,7 @@ class Car:
     self.CC_prev = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
+    self.resume_prev_button = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
 
@@ -185,12 +186,17 @@ class Car:
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.resume_prev_button)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
+    if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents):
+      self.resume_prev_button = True
+    elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents):
+      self.resume_prev_button = False
+
     return CS, RD
 
   def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):

selfdrive/car/cruise.py

@@ -2,6 +2,7 @@ import math
 import numpy as np
 
 from cereal import car
+from opendbc.car.gm.values import CC_ONLY_CAR, GMFlags
 from openpilot.common.conversions import Conversions as CV
 
 
@@ -31,6 +32,7 @@ CRUISE_INTERVAL_SIGN = {
 class VCruiseHelper:
   def __init__(self, CP):
     self.CP = CP
+    self.gm_cc_only = self.CP.carFingerprint in CC_ONLY_CAR and self.CP.flags & GMFlags.CC_LONG.value
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
@@ -123,14 +125,15 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev_button: bool) -> None:
     # initializing is handled by the PCM
-    if self.CP.pcmCruise:
+    if self.CP.pcmCruise and not self.gm_cc_only:
       return
 
     initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
 
-    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
+    if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
+      and self.v_cruise_initialized or (self.gm_cc_only and resume_prev_button)):
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
       self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))

selfdrive/controls/controlsd.py

@@ -113,6 +113,8 @@ class Controls:
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
+    if len(long_plan.speeds):
+        actuators.speed = long_plan.speeds[-1]
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage
     new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature