AHHHH

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -259,18 +259,6 @@ def should_activate_auto_hold(hold_ready: bool, auto_hold_armed: bool, auto_hold
   )
 
 
-def should_neutralize_volt_long_on_driver_override(CP, gas_pressed: bool, brake_pressed: bool,
-                                                   gear_shifter=None) -> bool:
-  if CP.carFingerprint == CAR.CHEVROLET_VOLT_2019 and gear_shifter not in AUTO_HOLD_DRIVE_GEARS:
-    return False
-
-  return (
-    CP.carFingerprint in AUTO_HOLD_VOLT_CARS and
-    not CP.enableGasInterceptorDEPRECATED and
-    (gas_pressed or brake_pressed)
-  )
-
-
 def get_friction_brake_bus(CP):
   volt_gateway_alt_brake = (
     CP.carFingerprint == CAR.CHEVROLET_VOLT and
@@ -825,10 +813,6 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = max(self.apply_brake, self.volt_one_pedal_brake)
 
-        if should_neutralize_volt_long_on_driver_override(self.CP, CS.out.gasPressed, CS.out.brakePressed, CS.out.gearShifter):
-          self.apply_gas = self.params.MAX_ACC_REGEN
-          self.apply_brake = 0
-
         maneuver_sng_launch = self.longitudinal_maneuver_mode and self.is_volt
         if (
           self.CP.enableGasInterceptorDEPRECATED and

opendbc_repo/opendbc/car/gm/carstate.py

@@ -50,13 +50,6 @@ BOLT_CANCEL_BUTTON_CARS = BOLT_GEN1_CANCEL_PERSONALITY_CARS | {
   CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
   CAR.CHEVROLET_BOLT_CC_2022_2023,
 }
-VOLT_LIKE_CARS = {
-  CAR.CHEVROLET_VOLT,
-  CAR.CHEVROLET_VOLT_2019,
-  CAR.CHEVROLET_VOLT_ASCM,
-  CAR.CHEVROLET_VOLT_CAMERA,
-  CAR.CHEVROLET_VOLT_CC,
-}
 
 
 class CarState(CarStateBase):
@@ -115,7 +108,14 @@ class CarState(CarStateBase):
 
     ret = structs.CarState()
 
-    kaofui_state_cars = VOLT_LIKE_CARS | SDGM_CAR | ASCM_INT | {
+    volt_like = {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_2019,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+    }
+    kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
       CAR.CHEVROLET_BLAZER,
       CAR.CHEVROLET_MALIBU_SDGM,
       CAR.CHEVROLET_MALIBU_HYBRID_CC,
@@ -275,10 +275,7 @@ class CarState(CarStateBase):
       ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
       ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
       ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
-      if self.CP.carFingerprint in VOLT_LIKE_CARS:
-        ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
-      else:
-        ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+      ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     else:
       # 1 - open, 0 - closed
       ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
@@ -463,8 +460,6 @@ class CarState(CarStateBase):
         ("BCMGeneralPlatformStatus", 10),
         ("ASCMSteeringButton", 33),
       ]
-      if CP.carFingerprint in VOLT_LIKE_CARS:
-        pt_messages.append(("EPBStatus", 20))
       if CP.enableBsm:
         pt_messages.append(("BCMBlindSpotMonitor", 0))
 

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -115,31 +115,14 @@ def create_adas_keepalive(bus):
   return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
 
 
-def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False,
-                             use_volt_layout=False, use_generated_layout=False):
+def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False, use_volt_layout=False):
   gas_regen_msg = packer.dbc.name_to_msg.get("ASCMGasRegenCmd")
-  has_generated_layout = gas_regen_msg is not None and "GasRegenAccType" in gas_regen_msg.sigs
   has_legacy_volt_layout = gas_regen_msg is not None and {
     "GasRegenCmdActiveInv",
     "GasRegenAlwaysOne",
     "GasRegenAlwaysOne2",
   }.issubset(gas_regen_msg.sigs)
 
-  if use_generated_layout and has_generated_layout:
-    values = {
-      "GasRegenCmdActive": enabled,
-      "RollingCounter": idx,
-      "GasRegenCmd": throttle,
-      "GasRegenFullStopActive": at_full_stop,
-      "GasRegenAccType": 1,
-    }
-    dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
-    values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
-                                 (((0xff - dat[2]) & 0xff) << 8) | \
-                                 ((0x100 - dat[3] - idx) & 0xff)
-
-    return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
-
   if use_volt_layout and has_legacy_volt_layout:
     values = {
       "GasRegenCmdActive": enabled,

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

@@ -46,7 +46,6 @@ from opendbc.car.gm.carcontroller import (
   shape_truck_positive_accel,
   should_activate_auto_hold,
   should_activate_volt_one_pedal,
-  should_neutralize_volt_long_on_driver_override,
   should_send_adas_status,
   should_send_stock_long_cancel,
   should_spoof_dash_speed,
@@ -477,63 +476,6 @@ def test_volt_one_pedal_requires_time_in_drive_before_arming():
   )
 
 
-def test_volt_driver_override_neutralization_applies_on_stock_acc_path():
-  assert should_neutralize_volt_long_on_driver_override(
-    SimpleNamespace(
-      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
-      enableGasInterceptorDEPRECATED=False,
-    ),
-    True,
-    False,
-  )
-  assert should_neutralize_volt_long_on_driver_override(
-    SimpleNamespace(
-      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
-      enableGasInterceptorDEPRECATED=False,
-    ),
-    False,
-    True,
-  )
-
-
-def test_volt_2019_driver_override_neutralization_skips_park_but_keeps_drive():
-  CP = SimpleNamespace(
-    carFingerprint=CAR.CHEVROLET_VOLT_2019,
-    enableGasInterceptorDEPRECATED=False,
-  )
-
-  assert not should_neutralize_volt_long_on_driver_override(CP, False, True, structs.CarState.GearShifter.park)
-  assert should_neutralize_volt_long_on_driver_override(CP, False, True, structs.CarState.GearShifter.drive)
-
-
-def test_volt_driver_override_neutralization_skips_pedal_and_non_volt_paths():
-  assert not should_neutralize_volt_long_on_driver_override(
-    SimpleNamespace(
-      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
-      enableGasInterceptorDEPRECATED=True,
-    ),
-    True,
-    False,
-  )
-  assert should_neutralize_volt_long_on_driver_override(
-    SimpleNamespace(
-      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
-      enableGasInterceptorDEPRECATED=False,
-    ),
-    False,
-    True,
-    structs.CarState.GearShifter.park,
-  )
-  assert not should_neutralize_volt_long_on_driver_override(
-    SimpleNamespace(
-      carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021,
-      enableGasInterceptorDEPRECATED=False,
-    ),
-    True,
-    False,
-  )
-
-
 def test_friction_brake_mode_keeps_near_stop_disabled_for_regular_long_braking():
   CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM)
 

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

@@ -18,7 +18,7 @@ from opendbc.car.gm.carcontroller import (
 import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.fingerprints import FINGERPRINTS
-from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CanBus, CruiseButtons, GMFlags, GMSafetyFlags
+from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 
@@ -242,26 +242,6 @@ class TestGMInterface:
     assert "AEBCmd" in cam_parser.vl
     assert cam_parser.message_states[aeb_addr].ignore_alive
 
-  def test_volt_parking_brake_uses_epb_closed_not_bcm_switch(self):
-    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
-    car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, _empty_fingerprint(), [], alpha_long=False, is_release=False,
-                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
-    car_state = GMCarState(car_params, custom.StarPilotCarParams.new_message())
-    can_parsers = GMCarState.get_can_parsers(car_params)
-    packer = CANPacker(DBC[car_params.carFingerprint][Bus.pt])
-
-    def update_pt(epb_closed: int, park_brake_sw_active: int):
-      can_parsers[Bus.pt].update([0, [
-        packer.make_can_msg("EPBStatus", CanBus.POWERTRAIN, {"EPBClosed": epb_closed}),
-        packer.make_can_msg("BCMGeneralPlatformStatus", CanBus.POWERTRAIN, {"ParkBrakeSwActive": park_brake_sw_active}),
-      ]])
-      ret, _ = car_state.update(can_parsers, _test_starpilot_toggles())
-      return ret
-
-    assert "EPBStatus" in can_parsers[Bus.pt].vl
-    assert not update_pt(epb_closed=0, park_brake_sw_active=1).parkingBrake
-    assert update_pt(epb_closed=1, park_brake_sw_active=0).parkingBrake
-
   def test_bolt_gen2_pedal_cancel_remap_sets_alt_exp(self):
     CarInterface = interfaces[CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL]
     fingerprint = _empty_fingerprint()

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

@@ -77,11 +77,3 @@ class TestGMCan:
     assert addr == 0x2CB
     assert bus == 0
     assert dat.hex() == "41429c4000bd63bf"
-
-  def test_gas_regen_command_matches_opgm_plain_volt_layout(self):
-    packer = CANPacker("gm_global_a_powertrain_generated")
-    addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, use_generated_layout=True)
-
-    assert addr == 0x2CB
-    assert bus == 0
-    assert dat.hex() == "41435c7000bca38f"

opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc

@@ -82,12 +82,6 @@ VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
 
 BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
  SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
- SG_ Byte1 : 15|8@0+ (1,0) [0|255] ""  NEO
- SG_ Byte2 : 23|8@0+ (1,0) [0|255] ""  NEO
- SG_ Byte3 : 31|8@0+ (1,0) [0|255] ""  NEO
- SG_ Byte4 : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ Byte5 : 47|8@0+ (1,0) [0|255] ""  NEO
- SG_ Byte6 : 55|8@0+ (1,0) [0|255] ""  NEO
 
 BO_ 190 ECMAcceleratorPos: 6 K20_ECM
  SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
@@ -198,14 +192,9 @@ BO_ 500 SportMode: 6 XXX
  SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 501 ECMPRDNL2: 8 K20_ECM
- SG_ Byte0 : 7|8@0+ (1,0) [0|255] "" NEO
- SG_ Byte1 : 15|8@0+ (1,0) [0|255] "" NEO
- SG_ Byte2 : 23|8@0+ (1,0) [0|255] "" NEO
  SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
- SG_ Byte4 : 39|8@0+ (1,0) [0|255] "" NEO
  SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
- SG_ Byte7 : 63|8@0+ (1,0) [0|255] "" NEO
 
 BO_ 532 BRAKE_RELATED: 6 XXX
  SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX