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ui: only longitudinal cars can use Speed Limit Assist (#1300)

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This commit is contained in:
Jason Wen
2025-09-30 13:39:11 -04:00
committed by GitHub
parent dc0fd4ca96
commit 0f4828df82
2 changed files with 43 additions and 0 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+26
View File
@@ -108,6 +108,25 @@ void SpeedLimitSettings::refresh() {
SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
bool has_longitudinal_control;
bool intelligent_cruise_button_management_available;
auto cp_bytes = params.get("CarParamsPersistent");
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
AlignedBuffer aligned_buf;
AlignedBuffer aligned_buf_sp;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
has_longitudinal_control = hasLongitudinalControl(CP);
intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
} else {
has_longitudinal_control = false;
intelligent_cruise_button_management_available = false;
}
speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
speed_limit_offset->setDescription(offsetDescription(offset_type_param));
@@ -125,6 +144,13 @@ void SpeedLimitSettings::refresh() {
speed_limit_offset->showDescription();
}
if (has_longitudinal_control || intelligent_cruise_button_management_available) {
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
} else {
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
{SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
}
speed_limit_mode_settings->showDescription();
speed_limit_offset->showDescription();
}
selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+17
View File
@@ -76,4 +76,21 @@ private:
.arg(warning_str)
.arg(assist_str);
}
static std::vector<SpeedLimitMode> getSpeedLimitModeValues() {
std::vector<SpeedLimitMode> values;
for (int i = static_cast<int>(SpeedLimitMode::OFF);
i <= static_cast<int>(SpeedLimitMode::ASSIST); ++i) {
values.push_back(static_cast<SpeedLimitMode>(i));
}
return values;
}
static std::vector<int> convertSpeedLimitModeValues(const std::vector<SpeedLimitMode> &modes) {
std::vector<int> values;
for (const auto& mode : modes) {
values.push_back(static_cast<int>(mode));
}
return values;
}
};