From 0ffa2f846b925ba41e1c261aa808476bc3231e7f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 27 Apr 2025 02:41:51 -0400
Subject: [PATCH] move to car_specific_sp

---
 selfdrive/car/car_specific.py            | 17 ++++----------
 selfdrive/selfdrived/selfdrived.py       |  2 +-
 sunnypilot/selfdrive/car/car_specific.py | 29 ++++++++++++++++++++----
 3 files changed, 30 insertions(+), 18 deletions(-)

diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index b843311273..2d69d3d590 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -6,7 +6,6 @@ from opendbc.car.interfaces import MAX_CTRL_SPEED
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
-from opendbc.car.chrysler.values import RAM_DT
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -55,17 +54,11 @@ class CarSpecificEvents:
     elif self.CP.brand == 'chrysler':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
 
-        # Low speed steer alert hysteresis logic
-      if self.CP.carFingerprint in RAM_DT:
-        if CS.vEgo >= self.CP.minEnableSpeed:
-          self.low_speed_alert = False
-        if (self.CP.minEnableSpeed >= 14.5) and (CS.gearShifter != GearShifter.drive):
-          self.low_speed_alert = True
-      else:
-        if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
-          self.low_speed_alert = True
-        elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
-          self.low_speed_alert = False
+      # Low speed steer alert hysteresis logic
+      if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
+        self.low_speed_alert = True
+      elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
+        self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 36d1b27044..0b825869f4 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -198,7 +198,7 @@ class SelfdriveD(CruiseHelper):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      car_events_sp = self.car_events_sp.update().to_msg()
+      car_events_sp = self.car_events_sp.update(CS, self.events).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 057f79cf0c..20589a878e 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -5,12 +5,16 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import custom
+from cereal import log, custom
 from opendbc.car import structs
 
+from opendbc.car.chrysler.values import RAM_DT
+from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
+EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
+GearShifter = structs.CarState.GearShifter
 
 
 class CarSpecificEventsSP:
@@ -18,6 +22,7 @@ class CarSpecificEventsSP:
     self.CP = CP
     self.params = params
 
+    self.low_speed_alert = False
     self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
@@ -25,10 +30,24 @@ class CarSpecificEventsSP:
     self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
     self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
-  def update(self):
-    events = EventsSP()
+  def update(self, CS: structs.CarState, events: Events):
+    events_sp = EventsSP()
+
+    if self.CP.brand == 'chrysler':
+      if self.CP.carFingerprint in RAM_DT:
+        # remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic
+        if events.has(EventName.belowSteerSpeed):
+          events.remove(EventName.belowSteerSpeed)
+
+        if CS.vEgo >= self.CP.minEnableSpeed:
+          self.low_speed_alert = False
+        if (self.CP.minEnableSpeed >= 14.5) and (CS.gearShifter != GearShifter.drive):
+          self.low_speed_alert = True
+      if self.low_speed_alert:
+        events.add(EventNameSP.belowSteerSpeed)
+
     if self.CP.brand == 'hyundai':
       if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
+        events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed)
 
-    return events
+    return events_sp