GM: CC only cars pcmCruise = True

selfdrive/car/gm/carcontroller.py

@@ -189,9 +189,7 @@ def update(self, CC, CS, now_nanos):
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
       # TODO: integrate this with the code block below?
-      if (
-          (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
-          or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled)  # Cancel stock CC if OP is not active
+      if ((self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
       ) and CS.out.cruiseState.enabled:
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
           self.last_button_frame = self.frame

selfdrive/car/gm/carstate.py

@@ -150,7 +150,7 @@ def update(self, pt_cp, cam_cp, loopback_cp):
       else:
         ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
+      if self.CP.pcmCruise and self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
     if self.CP.carFingerprint in CC_ONLY_CAR:
       ret.accFaulted = False

selfdrive/car/gm/interface.py

@@ -261,13 +261,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     elif candidate in CC_ONLY_CAR:
       ret.experimentalLongitudinalAvailable = True
-      ret.flags |= GMFlags.CC_LONG.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
       if experimental_long:
         ret.openpilotLongitudinalControl = True
+        ret.flags |= GMFlags.CC_LONG.value
       ret.radarUnavailable = True
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
-      ret.pcmCruise = False
+      ret.pcmCruise = True
 
       ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
 

selfdrive/controls/controlsd.py

@@ -152,6 +152,7 @@ def __init__(self, CI=None):
     self.personality = self.read_personality_param()
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
+    self.resume_prev_button = False
 
     self.can_log_mono_time = 0
 
@@ -510,7 +511,7 @@ def state_transition(self, CS):
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
-          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.resume_prev_button)
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -521,6 +522,11 @@ def state_transition(self, CS):
   def state_control(self, CS):
     """Given the state, this function returns a CarControl packet"""
 
+    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
+
     # Update VehicleModel
     lp = self.sm['liveParameters']
     x = max(lp.stiffnessFactor, 0.1)

selfdrive/controls/lib/drive_helpers.py

@@ -5,6 +5,7 @@
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.system.version import get_build_metadata
+from openpilot.selfdrive.car.gm.values import GMFlags, CC_ONLY_CAR
 
 EventName = car.CarEvent.EventName
 
@@ -42,6 +43,7 @@
 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
@@ -56,7 +58,7 @@ def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      if not self.CP.pcmCruise or self.gm_cc_only:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -128,15 +130,15 @@ def update_button_timers(self, CS, enabled):
         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) -> 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
 
     # 250kph or above probably means we never had a set speed
-    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
+    if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) or (self.gm_cc_only and resume_prev_button)) and self.v_cruise_kph_last < 250:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
       self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))