ui: Speed Limit Warning (#1263)

* ui: Speed Limit Warning

* missed

* behind toggle

* missed

* reorder

* fix type

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h

@@ -37,9 +37,11 @@ inline const QString SpeedLimitSourcePolicyTexts[]{
 enum class SpeedLimitMode {
   OFF,
   INFORMATION,
+  WARNING,
 };
 
 inline const QString SpeedLimitModeTexts[]{
   QObject::tr("Off"),
   QObject::tr("Information"),
+  QObject::tr("Warning"),
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc

@@ -27,6 +27,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   std::vector<QString> speed_limit_mode_texts{
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h

@@ -55,15 +55,19 @@ private:
   static QString modeDescription(SpeedLimitMode mode = SpeedLimitMode::OFF) {
     QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
     QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
+    QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit.");
 
-    if (mode == SpeedLimitMode::INFORMATION) {
+    if (mode == SpeedLimitMode::WARNING) {
+      warning_str = "<font color='white'><b>" + warning_str + "</b></font>";
+    } else if (mode == SpeedLimitMode::INFORMATION) {
       info_str = "<font color='white'><b>" + info_str + "</b></font>";
     } else {
       off_str = "<font color='white'><b>" + off_str + "</b></font>";
     }
 
-    return QString("%1<br>%2")
+    return QString("%1<br>%2<br>%3")
         .arg(off_str)
-        .arg(info_str);
+        .arg(info_str)
+        .arg(warning_str);
   }
 };

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -328,7 +328,10 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 }
 
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
-  QString speedLimitStr = speedLimit > 0 ? QString::number(std::nearbyint(speedLimit)) : "---";
+  int speedLimitRounded = std::nearbyint(speedLimit);
+  bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
+  bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
+  QString speedLimitStr = speedLimit > 0 ? QString::number(speedLimitRounded) : "---";
 
   // Offset display text
   QString speedLimitSubText = "";
@@ -344,6 +347,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
   QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
 
   int alpha = 255;
+  QColor red_color = QColor(255, 0, 0, alpha);
+  QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color : QColor(0, 0, 0, alpha);
 
   if (is_metric) {
     // EU Vienna Convention style circular sign
@@ -364,9 +369,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
 
     // Red border ring with color coding
     QRect red_ring = circle_rect;
-    QColor ring_color = QColor(255, 0, 0, alpha);
 
-    p.setBrush(ring_color);
+    p.setBrush(red_color);
     p.drawEllipse(red_ring);
 
     // Center white circle for text
@@ -378,7 +382,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     // Speed value, smaller font for 3+ digits
     int font_size = (speedLimitStr.size() >= 3) ? 70 : 85;
     p.setFont(InterFont(font_size, QFont::Bold));
-    QColor speed_color = QColor(0, 0, 0, alpha);
 
     p.setPen(speed_color);
     p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
@@ -424,7 +427,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
 
     // Speed value with color coding
     p.setFont(InterFont(90, QFont::Bold));
-    QColor speed_color = QColor(0, 0, 0, alpha);
 
     p.setPen(speed_color);
     p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);

selfdrive/ui/sunnypilot/ui.cc

@@ -53,7 +53,7 @@ void ui_update_params_sp(UIStateSP *s) {
   auto params = Params();
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
-  s->scene.speed_limit_mode = params.getBool("SpeedLimitMode");
+  s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {