From 8e2037651e51ac63f4e92dfd65e416241b8cf9be Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 26 Aug 2024 21:47:18 -0700
Subject: [PATCH] GM: implement allow throttle/brakes (#1185)

implement allow gnb for GM
---
 opendbc/car/gm/carcontroller.py | 5 ++++-
 opendbc/car/structs.py          | 3 +++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/opendbc/car/gm/carcontroller.py b/opendbc/car/gm/carcontroller.py
index 0d006f8673..77f4ac9cde 100644
--- a/opendbc/car/gm/carcontroller.py
+++ b/opendbc/car/gm/carcontroller.py
@@ -94,9 +94,12 @@ def update(self, CC, CS, now_nanos):
           self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
-          if stopping:
+          if stopping or not actuators.allowThrottle:
             self.apply_gas = self.params.INACTIVE_REGEN
 
+          if not actuators.allowBrake:
+            self.apply_brake = 0
+
         idx = (self.frame // 4) % 4
 
         at_full_stop = CC.longActive and CS.out.standstill
diff --git a/opendbc/car/structs.py b/opendbc/car/structs.py
index c375468353..c5a7dfa72b 100644
--- a/opendbc/car/structs.py
+++ b/opendbc/car/structs.py
@@ -220,6 +220,9 @@ class Actuators:
     steerOutputCan: float = auto_field()
     steeringAngleDeg: float = auto_field()
 
+    allowBrake: bool = auto_field()
+    allowThrottle: bool = auto_field()
+
     curvature: float = auto_field()
 
     speed: float = auto_field()  # m/s