Skip harness relay check if camera is missing

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>

selfdrive/car/gm/carstate.py

@@ -51,7 +51,7 @@ class CarState(CarStateBase):
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.loopback_lka_steering_cmd_updated:
       self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
@@ -71,7 +71,10 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+    if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+      ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+    else:
+      ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
@@ -138,7 +141,7 @@ class CarState(CarStateBase):
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       if self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
       if self.CP.carFingerprint not in SDGM_CAR:
@@ -176,7 +179,7 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     messages = []
-    if CP.networkLocation == NetworkLocation.fwdCamera:
+    if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]
@@ -236,6 +239,9 @@ class CarState(CarStateBase):
       messages += [
         ("ASCMLKASteeringCmd", 0),
       ]
+      if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+        messages.remove(("ECMAcceleratorPos", 80))
+        messages.append(("EBCMBrakePedalPosition", 100))
 
     if CP.transmissionType == TransmissionType.direct:
       messages += [

selfdrive/car/gm/interface.py

@@ -22,6 +22,8 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 
 ACCELERATOR_POS_MSG = 0xbe
 BSM_MSG = 0x142
+CAM_MSG = 0x320  # AEBCmd
+                 # TODO: Is this always linked to camera presence?
 PEDAL_MSG = 0x201
 
 NON_LINEAR_TORQUE_PARAMS = {
@@ -365,6 +367,11 @@ class CarInterface(CarInterfaceBase):
     if candidate in CC_ONLY_CAR:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
 
+    # Exception for flashed cars, or cars whose camera was removed
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
+      ret.flags |= GMFlags.NO_CAMERA.value
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
+
     if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 

selfdrive/car/gm/values.py

@@ -1,6 +1,6 @@
 from collections import defaultdict
 from dataclasses import dataclass
-from enum import Enum, StrEnum
+from enum import Enum, IntFlag, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
@@ -179,6 +179,7 @@ class CanBus:
 class GMFlags(IntFlag):
   PEDAL_LONG = 1
   CC_LONG = 2
+  NO_CAMERA = 4
   NO_ACCELERATOR_POS_MSG = 8