book

cereal/log.capnp

@@ -2757,6 +2757,7 @@ struct Event {
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
+    visionSpeedLimitBookmark @153 :UserBookmark;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
     # *********** debug ***********

cereal/services.h

@@ -69,6 +69,7 @@ static std::map<std::string, service> services = {
   { "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
   { "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
   { "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
+  { "visionSpeedLimitBookmark", {"visionSpeedLimitBookmark", false, 0.000000, 1, 256000}},
   { "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
   { "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
   { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},

cereal/services.py

@@ -86,6 +86,7 @@ _services: dict[str, tuple] = {
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
+  "visionSpeedLimitBookmark": (False, 0., 1),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),
   "driverEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),

selfdrive/ui/feedback/feedbackd.py

@@ -13,7 +13,7 @@ def main():
   params = Params()
   params_memory = Params(memory=True)
   pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
-  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
+  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'visionSpeedLimitBookmark', 'carState'])
   should_record_audio = False
   block_num = 0
   waiting_for_release = False
@@ -64,6 +64,10 @@ def main():
       cloudlog.info("Bookmark button pressed!")
       bookmark_requests += 1
 
+    if sm.updated['visionSpeedLimitBookmark']:
+      cloudlog.info("Vision speed limit bookmark requested!")
+      bookmark_requests += 1
+
     wheel_bookmark_counter = params_memory.get_int("WheelButtonBookmarkCounter")
     if wheel_bookmark_counter > last_wheel_bookmark_counter:
       bookmark_requests += wheel_bookmark_counter - last_wheel_bookmark_counter

starpilot/system/speed_limit_vision.py

@@ -346,7 +346,7 @@ class SpeedLimitVisionDaemon:
       from openpilot.common.realtime import Ratekeeper
 
       self.messaging = messaging
-      self.pm = messaging.PubMaster(["userBookmark"])
+      self.pm = messaging.PubMaster(["visionSpeedLimitBookmark"])
       self.params = Params(return_defaults=True)
       self.params_memory = Params(memory=True)
       self.is_metric = self.params.get_bool("IsMetric")
@@ -799,8 +799,8 @@ class SpeedLimitVisionDaemon:
     if not self.use_runtime or self.pm is None or self.messaging is None:
       return
     self.ignore_next_user_bookmark = True
-    msg = self.messaging.new_message("userBookmark", valid=True)
-    self.pm.send("userBookmark", msg)
+    msg = self.messaging.new_message("visionSpeedLimitBookmark", valid=True)
+    self.pm.send("visionSpeedLimitBookmark", msg)
 
   def _maybe_commit_auto_bookmark(self, now):
     pending = self.pending_auto_bookmark