From fb1639f53899ae349dc452abe7387188fcdb8478 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 20 Dec 2025 23:56:06 -0600
Subject: [PATCH] Revert "Update carcontroller.py"

This reverts commit 7479aa327b1a70f130adbbfb701db26a9dff6802.
---
 opendbc_repo/opendbc/car/gm/carcontroller.py | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index 98a99e1a7..9c5a7655f 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -6,6 +6,7 @@ from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from opendbc.car.interfaces import CarControllerBase
+from opendbc.sunnypilot.car.gm.values_ext import GMFlagsSP
 from opendbc.sunnypilot.car.gm.icbm import IntelligentCruiseButtonManagementInterface
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -38,6 +39,7 @@ class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterfac
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint][Bus.radar])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint][Bus.chassis])
 
+    GasInterceptorCarController.__init__(self, CP, CP_SP)
     IntelligentCruiseButtonManagementInterface.__init__(self, CP, CP_SP)
 
   def update(self, CC, CC_SP, CS, now_nanos):
@@ -111,9 +113,14 @@ class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterfac
           at_full_stop = at_full_stop and stopping
           friction_brake_bus = CanBus.POWERTRAIN
 
+        pedal_interceptor_active = self.CP.enableGasInterceptorDEPRECATED and (self.CP_SP.flags & GMFlagsSP.NON_ACC)
+        if pedal_interceptor_active:
+          self.apply_brake = 0
+
         # GasRegenCmdActive needs to reflect whether openpilot is actually commanding longitudinal torque
         gas_regen_active = CC.longActive and CC.enabled
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, gas_regen_active, at_full_stop))
+        if not pedal_interceptor_active:
+          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, gas_regen_active, at_full_stop))
         can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
                                                              idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
@@ -168,5 +175,8 @@ class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterfac
     new_actuators.gas = self.apply_gas
     new_actuators.brake = self.apply_brake
 
+    # sunnypilot gas interceptor / NON_ACC extensions
+    self.extend_with_interceptor(CC, CS, new_actuators, can_sends)
+
     self.frame += 1
     return new_actuators, can_sends