Cam hrns supp done (in theory)

selfdrive/car/gm/carcontroller.py

@@ -78,6 +78,7 @@ class CarController:
       near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
       # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
       can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
+      # Vehicles with factory camera-based ACC expect friction brake on PT
       can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
 
     # Send dashboard UI commands (ACC status), 25hz
@@ -112,7 +113,7 @@ class CarController:
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
-    # SW_GMLAN is not yet available on Cam Harness
+    # SW_GMLAN not yet on cam harness
     if CS.CP.networkLocation != NetworkLocation.fwdCamera and self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))

selfdrive/car/gm/carstate.py

@@ -3,9 +3,10 @@ from common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD
+from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
-
 
+TransmissionType = car.CarParams.TransmissionType
+# TODO: Switch from hardcoded car to CarParams trans
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
@@ -35,7 +36,7 @@ class CarState(CarStateBase):
     ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
 
     # Regen braking is braking
-    if self.car_fingerprint == CAR.VOLT:
+    if self.CP.transmissionType == TransmissionType.direct:
       ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
 
     ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -120,7 +121,7 @@ class CarState(CarStateBase):
       ("EBCMBrakePedalPosition", 100),
     ]
 
-    if CP.carFingerprint == CAR.VOLT:
+    if CP.transmissionType == TransmissionType.direct:
       signals.append(("RegenPaddle", "EBCMRegenPaddle"))
       checks.append(("EBCMRegenPaddle", 50))