sp events

cereal/custom.capnp

@@ -145,6 +145,10 @@ struct OnroadEventSP @0xda96579883444c35 {
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
+    speedLimitPreActive @16;
+    speedLimitActive @17;
+    speedLimitConfirmed @18;
+    speedLimitValueChange @19;
   }
 }
 

sunnypilot/selfdrive/controls/lib/speed_limit_controller/__init__.py

@@ -17,4 +17,3 @@ LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and curren
 LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
 
 SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
-EventName = car.CarEvent.EventName

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py

@@ -1,17 +1,21 @@
 import numpy as np
 import time
 
+from cereal import custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
-  PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, LIMIT_SPEED_OFFSET_TH, EventName, SpeedLimitControlState
+  PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, LIMIT_SPEED_OFFSET_TH, SpeedLimitControlState
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy, Engage, OffsetType
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import description_for_state, debug
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
+EventNameSP = custom.OnroadEventSP.EventName
+
 ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting)
 
 
@@ -279,22 +283,22 @@ class SpeedLimitController:
   def _update_events(self, events):
     if self._speed_limit > 0 and self._warning_type_type == 2 and \
       self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)):
-      events.add(EventName.speedLimitPreActive)
+      events.add(EventNameSP.speedLimitPreActive)
 
     if not self.is_active:
       if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \
         self._v_cruise_rounded != self._speed_limit_offsetted_rounded:
-          events.add(EventName.speedLimitPreActive)
+          events.add(EventNameSP.speedLimitPreActive)
     else:
       if self._engage_type == Engage.user_confirm:
         if self._state_prev == SpeedLimitControlState.preActive:
-          events.add(EventName.speedLimitConfirmed)
-          events.add(EventName.speedLimitActive)
+          events.add(EventNameSP.speedLimitConfirmed)
+          events.add(EventNameSP.speedLimitActive)
       elif self._engage_type == Engage.auto:
         if self._state_prev not in ACTIVE_STATES:
-          events.add(EventName.speedLimitActive)
+          events.add(EventNameSP.speedLimitActive)
         elif self._speed_limit_changed != 0:
-          events.add(EventName.speedLimitValueChange)
+          events.add(EventNameSP.speedLimitValueChange)
 
   def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events):
     _car_state = sm['carState']

sunnypilot/selfdrive/selfdrived/events.py

@@ -1,4 +1,6 @@
+import cereal.messaging as messaging
 from cereal import log, car, custom
+from openpilot.common.conversions import Conversions as CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 
@@ -14,6 +16,17 @@ EventNameSP = custom.OnroadEventSP.EventName
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
 
+def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  speedLimit = sm['longitudinalPlanSP'].speedLimit
+  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
+  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
+  return Alert(
+    message,
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
+
+
 class EventsSP(EventsBase):
   def __init__(self):
     super().__init__()
@@ -134,4 +147,32 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: wrong_car_mode_alert,
   },
 
+  EventNameSP.speedLimitPreActive: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .45),
+  },
+
+  EventNameSP.speedLimitActive: {
+    ET.WARNING: Alert(
+      "Set speed changed to match posted speed limit",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 3.),
+  },
+
+  EventNameSP.speedLimitConfirmed: {
+    ET.WARNING: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .45),
+  },
+
+  EventNameSP.speedLimitValueChange: {
+    ET.WARNING: speed_limit_adjust_alert,
+  },
+
 }