From 0f4828df824416fa0ff5bb6a3a7a21155e72838c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 30 Sep 2025 13:39:11 -0400
Subject: [PATCH] ui: only longitudinal cars can use Speed Limit Assist (#1300)

---
 .../speed_limit/speed_limit_settings.cc       | 26 +++++++++++++++++++
 .../speed_limit/speed_limit_settings.h        | 17 ++++++++++++
 2 files changed, 43 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 5f12403a1..ff5d6221c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -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();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index 10c44aa98..f76f9bea2 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -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;
+  }
 };