let the non PCM party begins

selfdrive/car/card.py

@@ -71,7 +71,7 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -216,6 +216,7 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
+    self.v_cruise_helper.update_speed_limit_assist(self.sm['longitudinalPlanSP'])
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on

selfdrive/car/cruise.py

@@ -53,6 +53,7 @@ class VCruiseHelper(VCruiseHelperSP):
       if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
+        self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -74,6 +75,12 @@ class VCruiseHelper(VCruiseHelperSP):
     if not enabled:
       return
 
+    # Speed Limit Assist for Non PCM long cars.
+    # True: Disallow set speed changes when user confirmed the target set speed during preActive state
+    # False: Allow set speed changes as SLA is not requesting user confirmation
+    if self.update_speed_limit_assist_pre_active_confirmed:
+      return
+
     long_press = False
     button_type = None