From 4bfbd7ced822e3bb52fe7f6f446fad65bcb215f4 Mon Sep 17 00:00:00 2001
From: Jason Shuler <jshuler@gmail.com>
Date: Wed, 3 Aug 2022 18:52:12 -0400
Subject: [PATCH] GM: parse low and manumatic gears (#24764)

* Switch to ECMPRDNL2 for GM gear

* Removing manumatic gear #

* formatting

* update refs

* update refs

* line

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/gm/carstate.py             | 17 +++++++++++------
 selfdrive/car/gm/interface.py            |  5 ++++-
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index c28abc6036..b174d0327e 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -12,7 +12,7 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]
+    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
 
   def update(self, pt_cp, loopback_cp):
@@ -30,7 +30,11 @@ class CarState(CarStateBase):
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw < 0.01
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
+
+    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
+      ret.gearShifter = self.parse_gear_shifter("T")
+    else:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
     # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
     ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
@@ -97,7 +101,8 @@ class CarState(CarStateBase):
       ("FRWheelSpd", "EBCMWheelSpdFront"),
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
-      ("PRNDL", "ECMPRDNL"),
+      ("PRNDL2", "ECMPRDNL2"),
+      ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
@@ -108,7 +113,7 @@ class CarState(CarStateBase):
 
     checks = [
       ("BCMTurnSignals", 1),
-      ("ECMPRDNL", 10),
+      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
@@ -135,9 +140,9 @@ class CarState(CarStateBase):
     ]
 
     checks = [
-      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). 
+      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms).
       #                             While active 50 Hz (every 20 ms) is normal
-      #                             EPS will tolerate around 200ms when active before faulting 
+      #                             EPS will tolerate around 200ms when active before faulting
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index bdb42f97e2..ab6581201b 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -9,6 +9,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
@@ -165,7 +166,9 @@ class CarInterface(CarInterfaceBase):
 
       ret.buttonEvents = [be]
 
-    events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
+    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                         GearShifter.eco, GearShifter.manumatic],
+                                       pcm_enable=self.CP.pcmCruise)
 
     if ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d1c0ef985e..0cf6711727 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6d9bd0e80ccdf39827bded1883adbc922224bdf1
+82d3f0a3bfe07a76983e7e4603a0553d077ba15b
\ No newline at end of file