From 1101462fc74b8205eda8f3a9721f19d7425adaae Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 19 Aug 2022 12:04:12 -0700
Subject: [PATCH] GM pcmCruise: cancel more reliably (#25454)

* Cancel more reliably

* Apply suggestions from code review

* Try sending multiple

* Apply suggestions from code review

* Apply suggestions from code review

* Update selfdrive/car/gm/carcontroller.py

* lower rate a bit

* try this

* Update selfdrive/car/gm/carcontroller.py
old-commit-hash: fe509e0354466a301dd403d29b5b2c82aea8aad1
---
 selfdrive/car/gm/carcontroller.py | 4 ++--
 selfdrive/car/gm/carstate.py      | 3 +++
 selfdrive/car/gm/gmcan.py         | 7 +++++--
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 10e6027973..977d20c5b3 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -109,10 +109,10 @@ class CarController:
 
     else:
       # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if CC.cruiseControl.cancel:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 0bda7edad9..0bba1d29b8 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -16,12 +16,14 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
+    self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -109,6 +111,7 @@ class CarState(CarStateBase):
       ("AcceleratorPedal2", "AcceleratorPedal2"),
       ("CruiseState", "AcceleratorPedal2"),
       ("ACCButtons", "ASCMSteeringButton"),
+      ("RollingCounter", "ASCMSteeringButton"),
       ("SteeringWheelAngle", "PSCMSteeringAngle"),
       ("SteeringWheelRate", "PSCMSteeringAngle"),
       ("FLWheelSpd", "EBCMWheelSpdFront"),
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 3a10c4d9da..20e4c4ab6e 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,7 +1,10 @@
 from selfdrive.car import make_can_msg
 
-def create_buttons(packer, bus, button):
-  values = {"ACCButtons": button}
+def create_buttons(packer, bus, idx, button):
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": idx,
+  }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):