convert max init for metric

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

@@ -6,3 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
 LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
+
+# Speed Limit Assist Auto mode constants
+REQUIRED_INITIAL_MAX_SET_SPEED = 35.7632  # m/s 80 MPH  # TODO-SP: customizable with params
+CRUISE_SPEED_TOLERANCE = 0.44704  # m/s ±1 MPH tolerance  # TODO-SP: metric vs imperial

sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py

@@ -13,6 +13,7 @@ from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import REQUIRED_INITIAL_MAX_SET_SPEED, CRUISE_SPEED_TOLERANCE
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -31,11 +32,6 @@ LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers
 LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
 LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
 
-# Speed Limit Assist Auto mode constants
-REQUIRED_INITIAL_MAX_SET_SPEED = 35.7632  # m/s 80 MPH  # TODO-SP: customizable with params
-CRUISE_SPEED_TOLERANCE = 0.44704  # m/s ±1 MPH tolerance  # TODO-SP: metric vs imperial
-FALLBACK_CRUISE_SPEED = 255.0  # m/s fallback when no speed limit available
-
 
 class SpeedLimitAssist:
   _speed_limit: float

sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py

@@ -14,8 +14,9 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import REQUIRED_INITIAL_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
-  REQUIRED_INITIAL_MAX_SET_SPEED, PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState

sunnypilot/selfdrive/selfdrived/events.py

@@ -3,6 +3,7 @@ from cereal import log, car, custom
 from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import REQUIRED_INITIAL_MAX_SET_SPEED, CRUISE_SPEED_TOLERANCE
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -27,6 +28,18 @@ def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
     Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
 
 
+def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  max_initial_set_speed = round(REQUIRED_INITIAL_MAX_SET_SPEED * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
+  if metric:
+    max_initial_set_speed += round(CRUISE_SPEED_TOLERANCE * CV.MS_TO_KPH)
+  speed_unit = "km/h" if metric else "mph"
+  return Alert(
+    "Speed Limit Assist: Activation Required",
+    f"Manually change set speed to {max_initial_set_speed} {speed_unit} to activate",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.)
+
+
 class EventsSP(EventsBase):
   def __init__(self):
     super().__init__()
@@ -180,11 +193,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventNameSP.speedLimitPreActive: {
-    ET.WARNING: Alert(
-      "Speed Limit Assist: Activation Required",
-      "Manually change set speed to 80 MPH to activate",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
+    ET.WARNING: speed_limit_pre_active_alert,
   },
 
   EventNameSP.speedLimitPending: {