Revert "mapd: improved system transforms GPS navigation from a basic "am I near a road?" check into an intelligent map matching system that understands movement patterns, GPS reliability, and road network"

This reverts commit ea1e521306.

cereal/custom.capnp

@@ -123,6 +123,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
 
+  events @1 :List(OnroadEventSP.Event);
+  slc @2 :SpeedLimitControl;
+
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
     enabled @1 :Bool;
@@ -133,6 +136,23 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
+
+  struct SpeedLimitControl {
+    state @0 :SpeedLimitControlState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    speedLimit @3 :Float32;
+    speedLimitOffset @4 :Float32;
+    distToSpeedLimit @5 :Float32;
+  }
+
+  enum SpeedLimitControlState {
+    inactive @0; # No speed limit set or not enabled by parameter.
+    tempInactive @1; # User wants to ignore speed limit until it changes.
+    preActive @2;
+    adapting @3; # Reducing speed to match new speed limit.
+    active @4; # Cruising at speed limit.
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -172,6 +192,10 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
+    speedLimitPreActive @17;
+    speedLimitActive @18;
+    speedLimitConfirmed @19;
+    speedLimitValueChange @20;
   }
 }
 
@@ -247,6 +271,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 
 struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;  # m/s
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {

common/params_keys.h

@@ -216,4 +216,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+
+    // Speed Limit Control
+    {"SpeedLimitControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SpeedLimitControlPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitEngageType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitWarningValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
 };

selfdrive/controls/lib/longitudinal_planner.py

@@ -146,6 +146,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
+    # Get new v_cruise from Speed Limit Control
+    v_cruise = LongitudinalPlannerSP.update_v_cruise(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+
     if force_slow_decel:
       v_cruise = 0.0
 

selfdrive/controls/plannerd.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
+from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -16,10 +17,13 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
+  gps_location_service = get_gps_location_service(params)
+
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                            poll='modelV2')
 
   while True:

selfdrive/selfdrived/selfdrived.py

@@ -96,7 +96,7 @@ class SelfdriveD(CruiseHelper):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                   self.camera_packets + self.sensor_packets + self.gps_packets + ["longitudinalPlanSP"],
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
@@ -209,6 +209,7 @@ class SelfdriveD(CruiseHelper):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -67,6 +67,9 @@ class Plant:
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
+    car_state_sp = messaging.new_message('carStateSP')
+    live_map_data_sp = messaging.new_message('liveMapDataSP')
+    gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
 
@@ -133,7 +136,10 @@ class Plant:
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
+          'carStateSP': car_state_sp.carStateSP,
+          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts

selfdrive/ui/sunnypilot/SConscript

@@ -52,6 +52,10 @@ lateral_panel_qt_src = [
 
 longitudinal_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc",
 ]
 
 network_src = [

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc

@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+
+SpeedLimitControl::SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, desc, icon, parent) {
+
+  auto *slcFrame = new QFrame(this);
+  auto *slcFrameLayout = new QVBoxLayout();
+  slcFrame->setLayout(slcFrameLayout);
+  slcFrameLayout->setSpacing(0);
+  slcFrameLayout->setContentsMargins(0, 0, 0, 0);
+
+  slcSettings = new PushButtonSP(tr("Customize SLC"));
+  slcFrameLayout->addWidget(slcSettings);
+  connect(slcSettings, &QPushButton::clicked, [&]() {
+    emit slcSettingsButtonClicked();
+  });
+  addItem(slcFrame);
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h

@@ -0,0 +1,77 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+enum class SLCEngageType {
+  AUTO,
+  USER_CONFIRM,
+};
+
+inline const char *SLCEngageTypeText[]{
+  QT_TR_NOOP("Auto"),
+  QT_TR_NOOP("User Confirm")
+};
+
+enum class SLCOffsetType {
+  NONE,
+  FIXED,
+  PERCENT,
+};
+
+inline const char *SLCOffsetTypeText[]{
+  QT_TR_NOOP("None"),
+  QT_TR_NOOP("Fixed"),
+  QT_TR_NOOP("Percent"),
+};
+
+enum class SLCWarningType {
+  OFF,
+  DISPLAY,
+  CHIME,
+};
+
+inline const char *SLCWarningTypeText[]{
+  QT_TR_NOOP("Off"),
+  QT_TR_NOOP("Display"),
+  QT_TR_NOOP("Chime")
+};
+
+enum class SLCSourcePolicy {
+  CAR_ONLY,
+  MAP_ONLY,
+  CAR_FIRST,
+  MAP_FIRST,
+  COMBINED
+};
+
+inline const char *SLCSourcePolicyText[]{
+  QT_TR_NOOP("Car\nOnly"),
+  QT_TR_NOOP("Map\nOnly"),
+  QT_TR_NOOP("Car\nFirst"),
+  QT_TR_NOOP("Map\nFirst"),
+  QT_TR_NOOP("Combined\nData")
+};
+
+class SpeedLimitControl : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+signals:
+  void slcSettingsButtonClicked();
+
+private:
+  Params params;
+  PushButtonSP *slcSettings;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc

@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
+
+SpeedLimitControlPolicy::SpeedLimitControlPolicy(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  std::vector<QString> slc_policy_texts{
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_ONLY)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_ONLY)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_FIRST)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_FIRST)],
+    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::COMBINED)]
+  };
+  slc_policy = new ButtonParamControlSP(
+    "SpeedLimitControlPolicy",
+    tr("Speed Limit Source"),
+    "",
+    "",
+    slc_policy_texts,
+    250);
+  list->addItem(slc_policy);
+  connect(slc_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlPolicy::refresh);
+
+  refresh();
+  main_layout->addWidget(list);
+};
+
+void SpeedLimitControlPolicy::refresh() {
+  SLCSourcePolicy policy_param = static_cast<SLCSourcePolicy>(std::atoi(params.get("SpeedLimitControlPolicy").c_str()));
+  slc_policy->setDescription(sourceDescription(policy_param));
+}
+
+void SpeedLimitControlPolicy::showEvent(QShowEvent *event) {
+  refresh();
+  slc_policy->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlPolicy : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SpeedLimitControlPolicy(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ButtonParamControlSP *slc_policy;
+
+  static QString sourceDescription(SLCSourcePolicy type = SLCSourcePolicy::CAR_ONLY) {
+    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
+    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
+    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
+    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
+    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
+
+    if (type == SLCSourcePolicy::CAR_ONLY) {
+      car_only = "<font color='white'><b>" + car_only + "</b></font>";
+    } else if (type == SLCSourcePolicy::MAP_ONLY) {
+      map_only = "<font color='white'><b>" + map_only + "</b></font>";
+    } else if (type == SLCSourcePolicy::CAR_FIRST) {
+      car_first = "<font color='white'><b>" + car_first + "</b></font>";
+    } else if (type == SLCSourcePolicy::MAP_FIRST) {
+      map_first = "<font color='white'><b>" + map_first + "</b></font>";
+    } else {
+      combined = "<font color='white'><b>" + combined + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3<br>%4<br>%5")
+        .arg(car_only)
+        .arg(map_only)
+        .arg(car_first)
+        .arg(map_first)
+        .arg(combined);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc

@@ -0,0 +1,142 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
+
+SpeedLimitControlSubpanel::SpeedLimitControlSubpanel(QWidget *parent) : QStackedWidget(parent) {
+  subPanelFrame = new QFrame();
+  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
+  subPanelLayout->setContentsMargins(0, 0, 0, 0);
+  subPanelLayout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
+
+  subPanelLayout->addSpacing(20);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  auto *slcBtnFrame = new QFrame(this);
+  auto *slcBtnFrameLayout = new QGridLayout();
+  slcBtnFrame->setLayout(slcBtnFrameLayout);
+  slcBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
+  slcBtnFrameLayout->setSpacing(0);
+
+  slcWarningScreen = new SpeedLimitControlWarning(this);
+  slcPolicyScreen = new SpeedLimitControlPolicy(this);
+
+  slcWarningControl = new PushButtonSP(tr("Customize Warning"));
+  connect(slcWarningControl, &QPushButton::clicked, [&]() {
+    setCurrentWidget(slcWarningScreen);
+    slcWarningScreen->refresh();
+  });
+  connect(slcWarningScreen, &SpeedLimitControlWarning::backPress, [&]() {
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  slcSourceControl = new PushButtonSP(tr("Customize Source"));
+  connect(slcSourceControl, &QPushButton::clicked, [&]() {
+    setCurrentWidget(slcPolicyScreen);
+    slcPolicyScreen->refresh();
+  });
+  connect(slcPolicyScreen, &SpeedLimitControlPolicy::backPress, [&]() {
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  slcWarningControl->setFixedWidth(720);
+  slcSourceControl->setFixedWidth(720);
+  slcBtnFrameLayout->addWidget(slcWarningControl, 0, 0, Qt::AlignLeft);
+  slcBtnFrameLayout->addWidget(slcSourceControl, 0, 1, Qt::AlignRight);
+  list->addItem(slcBtnFrame);
+
+
+  std::vector<QString> slc_engage_texts{
+    SLCEngageTypeText[static_cast<int>(SLCEngageType::AUTO)],
+    SLCEngageTypeText[static_cast<int>(SLCEngageType::USER_CONFIRM)]
+  };
+  slc_engage_setting = new ButtonParamControlSP(
+    "SpeedLimitEngageType",
+    tr("Engage Mode"),
+    "",
+    "",
+    slc_engage_texts,
+    500);
+  slc_engage_setting->showDescription();
+  list->addItem(slc_engage_setting);
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> slc_offset_texts{
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
+  };
+  slc_offset_setting = new ButtonParamControlSP(
+    "SpeedLimitOffsetType",
+    tr("Speed Limit Offset"),
+    "",
+    "",
+    slc_offset_texts,
+    500);
+
+  offsetLayout->addWidget(slc_offset_setting);
+
+  slc_offset = new OptionControlSP(
+    "SpeedLimitValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+    );
+  offsetLayout->addWidget(slc_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(slc_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlSubpanel::refresh);
+  connect(slc_offset_setting, &ButtonParamControlSP::showDescriptionEvent, slc_offset, &OptionControlSP::showDescription);
+  connect(slc_engage_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
+  connect(slc_offset_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
+
+  refresh();
+  subPanelLayout->addWidget(list);
+  addWidget(subPanelFrame);
+  addWidget(slcWarningScreen);
+  addWidget(slcPolicyScreen);
+  setCurrentWidget(subPanelFrame);
+};
+
+void SpeedLimitControlSubpanel::refresh() {
+  SLCEngageType engage_type_param = static_cast<SLCEngageType>(std::atoi(params.get("SpeedLimitEngageType").c_str()));
+  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
+
+  slc_engage_setting->setDescription(engageModeDescription(engage_type_param));
+  slc_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SLCOffsetType::PERCENT) {
+    offsetLabel += "%";
+  }
+
+  if (offset_type_param == SLCOffsetType::NONE) {
+    slc_offset->setVisible(false);
+  } else {
+    slc_offset->setVisible(true);
+    slc_offset->setLabel(offsetLabel);
+    slc_offset->showDescription();
+  }
+}
+
+void SpeedLimitControlSubpanel::showEvent(QShowEvent *event) {
+  refresh();
+  slc_engage_setting->showDescription();
+  slc_offset->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h

@@ -0,0 +1,72 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlSubpanel : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitControlSubpanel(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  QFrame *subPanelFrame;
+  PushButtonSP *slcWarningControl;
+  PushButtonSP *slcSourceControl;
+  ButtonParamControlSP *slc_offset_setting;
+  OptionControlSP *slc_offset;
+  ButtonParamControlSP *slc_engage_setting;
+  SpeedLimitControlWarning *slcWarningScreen;
+  SpeedLimitControlPolicy *slcPolicyScreen;
+
+  static QString engageModeDescription(SLCEngageType type = SLCEngageType::AUTO) {
+    QString auto_str = tr("⦿ Auto: Automatic speed adjustment based on speed limit data");
+    QString user_str = tr("⦿ User Confirm: Asks driver to confirm speed adjustment based on speed limit data");
+
+    if (type == SLCEngageType::USER_CONFIRM) {
+      user_str = "<font color='white'><b>" + user_str + "</b></font>";
+    } else {
+      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2")
+        .arg(auto_str)
+        .arg(user_str);
+  }
+
+  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SLCOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SLCOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc

@@ -0,0 +1,100 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
+
+SpeedLimitControlWarning::SpeedLimitControlWarning(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this, true);
+
+  std::vector<QString> slc_warning_texts{
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::OFF)],
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::DISPLAY)],
+    SLCWarningTypeText[static_cast<int>(SLCWarningType::CHIME)]
+  };
+  slc_warning_settings = new ButtonParamControlSP(
+    "SpeedLimitWarningType", tr("Speed Limit Warning"),
+    "",
+    "",
+    slc_warning_texts,
+    300);
+  list->addItem(slc_warning_settings);
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> slc_warning_offset_texts{
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
+    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
+  };
+  slc_warning_offset_settings = new ButtonParamControlSP(
+    "SpeedLimitWarningOffsetType",
+    tr("Warning Offset"),
+    "",
+    "",
+    slc_warning_offset_texts,
+    300);
+  offsetLayout->addWidget(slc_warning_offset_settings);
+
+  slc_warning_offset = new OptionControlSP(
+    "SpeedLimitWarningValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+  );
+  slc_warning_offset->setFixedWidth(100);
+  offsetLayout->addWidget(slc_warning_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(slc_warning_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlWarning::refresh);
+  connect(slc_warning_offset_settings, &ButtonParamControlSP::showDescriptionEvent, slc_warning_offset, &OptionControlSP::showDescription);
+  connect(slc_warning_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
+  connect(slc_warning_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
+
+  refresh();
+  main_layout->addWidget(list);
+};
+
+void SpeedLimitControlWarning::refresh() {
+  SLCWarningType warning_type_param = static_cast<SLCWarningType>(std::atoi(params.get("SpeedLimitWarningType").c_str()));
+  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitWarningOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitWarningValueOffset"));
+
+  slc_warning_settings->setDescription(warningDescription(warning_type_param));
+  slc_warning_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SLCOffsetType::PERCENT) {
+    offsetLabel += "%";
+  }
+
+  if (offset_type_param == SLCOffsetType::NONE) {
+    slc_warning_offset->setDisabled(true);
+    slc_warning_offset->setLabel(tr("N/A"));
+  } else {
+    slc_warning_offset->setDisabled(false);
+    slc_warning_offset->setLabel(offsetLabel);
+  }
+}
+
+void SpeedLimitControlWarning::showEvent(QShowEvent *event) {
+  refresh();
+  slc_warning_settings->showDescription();
+  slc_warning_offset->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SpeedLimitControlWarning : public QWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitControlWarning(QWidget *parent = nullptr);
+
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+
+  ButtonParamControlSP *slc_warning_settings;
+  ButtonParamControlSP *slc_warning_offset_settings;
+  OptionControlSP *slc_warning_offset;
+
+  static QString warningDescription(SLCWarningType type = SLCWarningType::OFF) {
+    QString off_str = tr("⦿ Off: No Warning");
+    QString display_str = tr("⦿ Display: Speed Limit Sign will visually alert");
+    QString chime_str = tr("⦿ Chime: Speed Limit Sign will visually alert along with an audible chime");
+
+    if (type == SLCWarningType::DISPLAY) {
+      display_str = "<font color='white'><b>" + display_str + "</b></font>";
+    } else if (type == SLCWarningType::CHIME) {
+      chime_str = "<font color='white'><b>" + chime_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(off_str)
+        .arg(display_str)
+        .arg(chime_str);
+  }
+
+  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SLCOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SLCOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc

@@ -8,6 +8,21 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  setStyleSheet(R"(
+    #back_btn {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #393939;
+    }
+    #back_btn:pressed {
+      background-color:  #4a4a4a;
+    }
+  )");
+
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this, false);
 
@@ -23,7 +38,28 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
+  slcControl = new SpeedLimitControl(
+    "SpeedLimitControl",
+    tr("Speed Limit Control (SLC)"),
+    tr("When you engage ACC, you will be prompted to set the cruising speed to the speed limit of the road adjusted by the Offset and Source Policy specified, or the current driving speed. "
+      "The maximum cruising speed will always be the MAX set speed."),
+    "",
+    this);
+  list->addItem(slcControl);
+
+  connect(slcControl, &SpeedLimitControl::slcSettingsButtonClicked, [=]() {
+    cruisePanelScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(slcScreen);
+  });
+
+  slcScreen = new SpeedLimitControlSubpanel(this);
+  connect(slcScreen, &SpeedLimitControlSubpanel::backPress, [=]() {
+    cruisePanelScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(cruisePanelScreen);
+  });
+
   main_layout->addWidget(cruisePanelScreen);
+  main_layout->addWidget(slcScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
   refresh(offroad);
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h

@@ -8,8 +8,11 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
 
 class LongitudinalPanel : public QWidget {
   Q_OBJECT
@@ -29,4 +32,6 @@ private:
   ScrollViewSP *cruisePanelScroller = nullptr;
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
+  SpeedLimitControlSubpanel *slcScreen;
+  SpeedLimitControl *slcControl;
 };

selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc

@@ -18,6 +18,7 @@ ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &ti
   collapsibleWidget->setVisible(false);
   QVBoxLayout *collapsible_layout = new QVBoxLayout();
   collapsibleWidget->setLayout(collapsible_layout);
+  collapsible_layout->setContentsMargins(0, 20, 0, 20);
 
   list = new ListWidgetSP(this, false);
 

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -7,7 +7,10 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,8 +18,11 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
+    self.events_sp = EventsSP()
+
     self.dec = DynamicExperimentalController(CP, mpc)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
+    self.slc = SpeedLimitController(CP)
 
   @property
   def mlsim(self) -> bool:
@@ -29,6 +35,17 @@ class LongitudinalPlannerSP:
 
     return self.dec.mode()
 
+  def update_v_cruise(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> float:
+    self.events_sp.clear()
+
+    self.slc.update(sm, v_ego, a_ego, v_cruise, self.events_sp)
+
+    v_cruise_slc = self.slc.speed_limit_offseted if self.slc.is_active else V_CRUISE_UNSET
+
+    v_cruise_final = min(v_cruise, v_cruise_slc)
+
+    return v_cruise_final
+
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
 
@@ -38,6 +55,7 @@ class LongitudinalPlannerSP:
     plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
+    longitudinalPlanSP.events = self.events_sp.to_msg()
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec
@@ -45,4 +63,13 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
+    # Speed Limit Control
+    slc = longitudinalPlanSP.slc
+    slc.state = self.slc.state
+    slc.enabled = self.slc.is_enabled
+    slc.active = self.slc.is_active
+    slc.speedLimit = float(self.slc.speed_limit)
+    slc.speedLimitOffset = float(self.slc.speed_limit_offset)
+    slc.distToSpeedLimit = float(self.slc.distance)
+
     pm.send('longitudinalPlanSP', plan_sp_send)

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

@@ -0,0 +1,19 @@
+from cereal import custom
+
+DEBUG = True
+PARAMS_UPDATE_PERIOD = 2.  # secs. Time between parameter updates.
+TEMP_INACTIVE_GUARD_PERIOD = 1.  # secs. Time to wait after activation before considering temp deactivation signal.
+
+# Lookup table for speed limit percent offset depending on speed.
+LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038]  # 55, 105, 135 km/h
+LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1]  # 50, 100, 130 km/h
+
+# Constants for Limit controllers.
+LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
+LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
+LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
+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.
+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

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

@@ -0,0 +1,25 @@
+from enum import IntEnum
+
+
+class Source(IntEnum):
+  none = 0
+  car_state = 1
+  map_data = 2
+
+
+class Policy(IntEnum):
+  map_data_only = 0
+  car_state_only = 1
+  map_data_priority = 2
+  car_state_priority = 3
+  combined = 4
+
+
+class Engage(IntEnum):
+  auto = 0
+
+
+class OffsetType(IntEnum):
+  default = 0
+  fixed = 1
+  percentage = 2

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

@@ -0,0 +1,19 @@
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import DEBUG, SpeedLimitControlState
+from openpilot.common.swaglog import cloudlog
+
+
+def debug(msg):
+  if not DEBUG:
+    return
+  cloudlog.debug(msg)
+
+
+def description_for_state(speed_limit_control_state):
+  if speed_limit_control_state == SpeedLimitControlState.inactive:
+    return 'INACTIVE'
+  if speed_limit_control_state == SpeedLimitControlState.tempInactive:
+    return 'TEMP_INACTIVE'
+  if speed_limit_control_state == SpeedLimitControlState.adapting:
+    return 'ADAPTING'
+  if speed_limit_control_state == SpeedLimitControlState.active:
+    return 'ACTIVE'

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

@@ -0,0 +1,284 @@
+import numpy as np
+import time
+
+from cereal import messaging, custom
+from openpilot.common.constants import 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, SpeedLimitControlState
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+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)
+ENABLED_STATES = (SpeedLimitControlState.preActive, SpeedLimitControlState.tempInactive, *ACTIVE_STATES)
+
+
+class SpeedLimitController:
+  _speed_limit: float
+  _distance: float
+  _source: Source
+  _v_ego: float
+  _a_ego: float
+  _v_offset: float
+
+  def __init__(self, CP):
+    self.params = Params()
+    self._CP = CP
+    self._policy = self.params.get("SpeedLimitControlPolicy", return_default=True)
+    self._resolver = SpeedLimitResolver(self._policy)
+    self._last_params_update = 0.0
+    self._last_op_engaged_time = 0.0
+    self._is_metric = self.params.get_bool("IsMetric")
+    self._enabled = self.params.get_bool("SpeedLimitControl")
+    self._op_engaged = False
+    self._op_engaged_prev = False
+    self._v_ego = 0.
+    self._a_ego = 0.
+    self._v_offset = 0.
+    self._v_cruise_setpoint = 0.
+    self._v_cruise_setpoint_prev = 0.
+    self._v_cruise_setpoint_changed = False
+    self._speed_limit = 0.
+    self._speed_limit_prev = 0.
+    self._speed_limit_changed = False
+    self._distance = 0.
+    self._source = Source.none
+    self._state = SpeedLimitControlState.inactive
+    self._state_prev = SpeedLimitControlState.inactive
+    self._gas_pressed = False
+    self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
+
+    self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
+    self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+    self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
+    self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
+    self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
+    self._engage_type = self._read_engage_type_param()
+    self._current_time = 0.
+    self._v_cruise_rounded = 0.
+    self._v_cruise_prev_rounded = 0.
+    self._speed_limit_offsetted_rounded = 0.
+    self._speed_limit_warning_offsetted_rounded = 0.
+    self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
+
+    # Mapping functions to state transitions
+    self.state_transition_strategy = {
+      # Transition functions for each state
+      SpeedLimitControlState.inactive: self.transition_state_from_inactive,
+      SpeedLimitControlState.tempInactive: self.transition_state_from_temp_inactive,
+      SpeedLimitControlState.adapting: self.transition_state_from_adapting,
+      SpeedLimitControlState.active: self.transition_state_from_active,
+      SpeedLimitControlState.preActive: self.transition_state_from_pre_active,
+    }
+
+    # FIXME-SP: unused?
+    # Solution functions mapped to respective states
+    self.acceleration_solutions = {
+      # Solution functions for each state
+      SpeedLimitControlState.tempInactive: self.get_current_acceleration_as_target,
+      SpeedLimitControlState.inactive: self.get_current_acceleration_as_target,
+      SpeedLimitControlState.adapting: self.get_adapting_state_target_acceleration,
+      SpeedLimitControlState.active: self.get_active_state_target_acceleration,
+      SpeedLimitControlState.preActive: self.get_current_acceleration_as_target,
+    }
+
+  @property
+  def state(self) -> SpeedLimitControlState:
+    return self._state
+
+  @state.setter
+  def state(self, value) -> None:
+    if value != self._state:
+      debug(f'Speed Limit Controller state: {description_for_state(value)}')
+
+      if value == SpeedLimitControlState.tempInactive:
+        # Reset previous speed limit to current value as to prevent going out of tempInactive in
+        # a single cycle when the speed limit changes at the same time the user has temporarily deactivated it.
+        self._speed_limit_prev = self._speed_limit
+
+    self._state = value
+
+  @property
+  def is_enabled(self) -> bool:
+    return self.state in ENABLED_STATES and self._enabled
+
+  @property
+  def is_active(self) -> bool:
+    return self.state in ACTIVE_STATES and self._enabled
+
+  @property
+  def speed_limit_offseted(self) -> float:
+    return self._speed_limit + self.speed_limit_offset
+
+  @property
+  def speed_limit_offset(self) -> float:
+    return self._get_offset(self._offset_type, self._offset_value)
+
+  @property
+  def speed_limit_warning_offset(self) -> float:
+    return self._get_offset(self._warning_offset_type, self._warning_offset_value)
+
+  @property
+  def speed_limit(self) -> float:
+    return self._speed_limit
+
+  @property
+  def distance(self) -> float:
+    return self._distance
+
+  @property
+  def source(self) -> Source:
+    return self._source
+
+  def _get_offset(self, offset_type: OffsetType, offset_value: int) -> float:
+    if offset_type == OffsetType.default:
+      return float(np.interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit)
+    elif offset_type == OffsetType.fixed:
+      return offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    elif offset_type == OffsetType.percentage:
+      return offset_value * 0.01 * self._speed_limit
+    else:
+      raise NotImplementedError("Offset not supported")
+
+  def _update_v_cruise_setpoint_prev(self) -> None:
+    self._v_cruise_setpoint_prev = self._v_cruise_setpoint
+
+  def _update_params(self) -> None:
+    if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD:
+      self._enabled = self.params.get_bool("SpeedLimitControl")
+      self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
+      self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+      self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
+      self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
+      self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
+      self._policy = Policy(self.params.get("SpeedLimitControlPolicy", return_default=True))
+      self._is_metric = self.params.get_bool("IsMetric")
+      self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
+      self._resolver.change_policy(self._policy)
+      self._engage_type = self._read_engage_type_param()
+
+      self._last_params_update = self._current_time
+
+  def _read_engage_type_param(self) -> Engage:
+    if self._pcm_cruise_op_long:
+      return Engage.auto
+
+    return Engage.auto
+
+  def _update_calculations(self) -> None:
+    # Update current velocity offset (error)
+    self._v_offset = self.speed_limit_offseted - self._v_ego
+
+    # Track the time op becomes active to prevent going to tempInactive right away after
+    # op enabling since controlsd will change the cruise speed every time on enabling and this will
+    # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise
+    # speed.
+    if not self._op_engaged_prev and self._op_engaged:
+      self._last_op_engaged_time = self._current_time
+
+    # Update change tracking variables
+    self._speed_limit_changed = self._speed_limit != self._speed_limit_prev
+    self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev
+    self._speed_limit_prev = self._speed_limit
+    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
+    self._op_engaged_prev = self._op_engaged
+
+    self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._speed_factor))
+    self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._speed_factor))
+    self._speed_limit_offsetted_rounded = 0 if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._speed_factor))
+    self._speed_limit_warning_offsetted_rounded = 0 if self._speed_limit == 0 else \
+                                                  int(round((self._speed_limit + self.speed_limit_warning_offset) * self._speed_factor))
+
+  def transition_state_from_inactive(self) -> None:
+    """ Make state transition from inactive state """
+    if self._engage_type == Engage.auto:
+      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
+        self.state = SpeedLimitControlState.adapting
+      else:
+        self.state = SpeedLimitControlState.active
+
+  def transition_state_from_temp_inactive(self) -> None:
+    """ Make state transition from temporary inactive state """
+    if self._speed_limit_changed:
+      if self._engage_type == Engage.auto:
+        self.state = SpeedLimitControlState.inactive
+
+  def transition_state_from_pre_active(self) -> None:
+    """ Make state transition from preActive state """
+
+  def transition_state_from_adapting(self) -> None:
+    """ Make state transition from adapting state """
+    if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
+      self.state = SpeedLimitControlState.active
+
+  def transition_state_from_active(self) -> None:
+    """ Make state transition from active state """
+    if self._engage_type == Engage.auto:
+      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
+        self.state = SpeedLimitControlState.adapting
+
+  def _state_transition(self) -> None:
+    self._state_prev = self._state
+
+    # In any case, if op is disabled, or speed limit control is disabled or no valid speed limit
+    # or gas is pressed, deactivate.
+    if not self._op_engaged or not self._enabled or self._speed_limit == 0:
+      self.state = SpeedLimitControlState.inactive
+      return
+
+    # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed.
+    # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
+    # due to controlsd logic changing cruise setpoint when going active.
+    if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \
+          self._current_time > (self._last_op_engaged_time + TEMP_INACTIVE_GUARD_PERIOD):
+      self.state = SpeedLimitControlState.tempInactive
+      return
+
+    self.state_transition_strategy[self.state]()
+
+    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
+
+  def get_current_acceleration_as_target(self) -> float:
+    """ When state is inactive or tempInactive, preserve current acceleration """
+    return self._a_ego
+
+  def get_adapting_state_target_acceleration(self) -> float:
+    """ In adapting state, calculate target acceleration based on speed limit and current velocity """
+    if self.distance > 0:
+      return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance)
+
+    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def get_active_state_target_acceleration(self) -> float:
+    """ In active state, aim to keep speed constant around control time horizon """
+    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def _update_events(self, events_sp: EventsSP) -> None:
+    if self.is_active:
+      if self._engage_type == Engage.auto:
+        if self._state_prev not in ACTIVE_STATES:
+          events_sp.add(EventNameSP.speedLimitActive)
+        elif self._speed_limit_changed != 0:
+          events_sp.add(EventNameSP.speedLimitValueChange)
+
+  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise_setpoint: float, events_sp: EventsSP) -> None:
+    _car_state = sm['carState']
+    self._op_engaged = sm['carControl'].longActive
+    self._v_ego = v_ego
+    self._a_ego = a_ego
+    self._v_cruise_setpoint = v_cruise_setpoint if not np.isnan(v_cruise_setpoint) else 0.0
+    self._gas_pressed = _car_state.gasPressed
+    self._current_time = time.monotonic()
+
+    self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm)
+
+    self._update_params()
+    self._update_calculations()
+    self._state_transition()
+    self._update_events(events_sp)

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

@@ -0,0 +1,119 @@
+import time
+import numpy as np
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import debug
+
+
+class SpeedLimitResolver:
+  _limit_solutions: dict[Source, float]  # Store for speed limit solutions from different sources
+  _distance_solutions: dict[Source, float]  # Store for distance to current speed limit start for different sources
+  _v_ego: float
+  _current_speed_limit: float
+
+  def __init__(self, policy: Policy):
+    self._gps_location_service = get_gps_location_service(Params())
+    self._limit_solutions = {}
+    self._distance_solutions = {}
+
+    self._policy = policy
+    self._policy_to_sources_map = {
+      Policy.car_state_only: [Source.car_state],
+      Policy.car_state_priority: [Source.car_state, Source.map_data],
+      Policy.map_data_priority: [Source.map_data, Source.car_state],
+      Policy.map_data_only: [Source.map_data],
+      Policy.combined: [Source.car_state, Source.map_data],
+    }
+    for source in Source:
+      self._reset_limit_sources(source)
+
+  def change_policy(self, policy: Policy) -> None:
+    self._policy = policy
+
+  def _reset_limit_sources(self, source: Source) -> None:
+    self._limit_solutions[source] = 0.
+    self._distance_solutions[source] = 0.
+
+  def resolve(self, v_ego: float, current_speed_limit: float, sm: messaging.SubMaster) -> tuple[float, float, Source]:
+    self._v_ego = v_ego
+    self._current_speed_limit = current_speed_limit
+
+    self._resolve_limit_sources(sm)
+    return self._consolidate()
+
+  def _resolve_limit_sources(self, sm: messaging.SubMaster) -> None:
+    """Get limit solutions from each data source"""
+    self._get_from_car_state(sm)
+    self._get_from_map_data(sm)
+
+  def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(Source.car_state)
+    self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit
+    self._distance_solutions[Source.car_state] = 0.
+
+  def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(Source.map_data)
+    self._process_map_data(sm)
+
+  def _process_map_data(self, sm: messaging.SubMaster) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    gps_fix_age = time.monotonic() - gps_data.unixTimestampMillis * 1e-3
+    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
+      debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
+      return
+
+    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
+    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
+
+    self._calculate_map_data_limits(sm, speed_limit, next_speed_limit)
+
+  def _calculate_map_data_limits(self, sm: messaging.SubMaster, speed_limit: float, next_speed_limit: float) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    distance_since_fix = self._v_ego * (time.monotonic() - gps_data.unixTimestampMillis * 1e-3)
+    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
+
+    self._limit_solutions[Source.map_data] = speed_limit
+    self._distance_solutions[Source.map_data] = 0.
+
+    if 0. < next_speed_limit < self._v_ego:
+      adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC
+      adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
+
+      if distance_to_speed_limit_ahead <= adapt_distance:
+        self._limit_solutions[Source.map_data] = next_speed_limit
+        self._distance_solutions[Source.map_data] = distance_to_speed_limit_ahead
+
+  def _consolidate(self) -> tuple[float, float, Source]:
+    source = self._get_source_solution_according_to_policy()
+    self.speed_limit = self._limit_solutions[source] if source else 0.
+    self.distance = self._distance_solutions[source] if source else 0.
+    self.source = source or Source.none
+
+    debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}')
+    return self.speed_limit, self.distance, self.source
+
+  def _get_source_solution_according_to_policy(self) -> Source | None:
+    sources_for_policy = self._policy_to_sources_map[self._policy]
+
+    if self._policy != Policy.combined:
+      # They are ordered in the order of preference, so we pick the first that's non zero
+      for source in sources_for_policy:
+        if self._limit_solutions[source] > 0.:
+          return Source(source)
+
+    limits = np.array([self._limit_solutions[source] for source in sources_for_policy], dtype=float)
+    sources = np.array([source.value for source in sources_for_policy], dtype=int)
+
+    if len(limits) > 0:
+      min_idx = np.argmin(limits)
+      return Source(sources[min_idx])
+
+    return None

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

@@ -0,0 +1,58 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+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 openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+EventNameSP = custom.OnroadEventSP.EventName
+State = custom.LongitudinalPlanSP.SpeedLimitControlState
+
+ACTIVE_STATES = (State.active, State.adapting)
+ENABLED_STATES = (State.preActive, State.tempInactive, *ACTIVE_STATES)
+
+
+class StateMachine:
+  def __init__(self):
+    self.state = State.inactive
+
+  def update(self, events_sp: EventsSP) -> tuple[bool, bool]:
+    # INACTIVE
+    if self.state == State.inactive:
+      if events_sp.has(EventNameSP.speedLimitAdapting):
+        self.state = State.adapting
+      elif events_sp.has(EventNameSP.speedLimitActive):
+        self.state = State.active
+
+    # ACTIVE
+    elif self.state == State.active:
+      if events_sp.has(EventNameSP.speedLimitDisable):
+        self.state = State.inactive
+      elif events_sp.has(EventNameSP.speedLimitUserCancel):
+        self.state = State.tempInactive
+      elif events_sp.has(EventNameSP.speedLimitAdapting):
+        self.state = State.adapting
+
+    # ADAPTING
+    elif self.state == State.adapting:
+      if events_sp.has(EventNameSP.speedLimitDisable):
+        self.state = State.inactive
+      elif events_sp.has(EventNameSP.speedLimitUserCancel):
+        self.state = State.tempInactive
+      elif events_sp.has(EventNameSP.speedLimitReached):
+        self.state = State.active
+
+    # TEMP INACTIVE
+    elif self.state == State.tempInactive:
+      if events_sp.has(EventNameSP.speedLimitDisable):
+        self.state = State.inactive
+      elif events_sp.has(EventNameSP.speedLimitValueChange):
+        # When speed limit changes, reactivate
+        self.state = State.inactive
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active

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

@@ -0,0 +1,130 @@
+import random
+import time
+
+import pytest
+from pytest_mock import MockerFixture
+
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE
+
+# from selfdrive.controls.lib.speed_limit_controller_tbd import SpeedLimitResolver as OriginalSpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver as RefactoredSpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
+
+
+def create_mock(properties, mocker: MockerFixture):
+  mock = mocker.MagicMock()
+  for _property, value in properties.items():
+    setattr(mock, _property, value)
+  return mock
+
+
+def setup_sm_mock(mocker: MockerFixture):
+  cruise_speed_limit = random.uniform(0, 120)
+  live_map_data_limit = random.uniform(0, 120)
+
+  car_state = create_mock({
+    'gasPressed': False,
+    'brakePressed': False,
+    'standstill': False,
+  }, mocker)
+  car_state_sp = create_mock({
+    'speedLimit': cruise_speed_limit,
+  }, mocker)
+  live_map_data = create_mock({
+    'speedLimit': live_map_data_limit,
+    'speedLimitValid': True,
+    'speedLimitAhead': 0.,
+    'speedLimitAheadValid': 0.,
+    'speedLimitAheadDistance': 0.,
+  }, mocker)
+  gps_data = create_mock({
+    'unixTimestampMillis': time.monotonic() * 1e3,
+  }, mocker)
+  sm_mock = mocker.MagicMock()
+  sm_mock.__getitem__.side_effect = lambda key: {
+    'carState': car_state,
+    'liveMapDataSP': live_map_data,
+    'carStateSP': car_state_sp,
+    'gpsLocation': gps_data,
+  }[key]
+  return sm_mock
+
+
+parametrized_policies = pytest.mark.parametrize(
+  "policy, sm_key, function_key", [
+    (Policy.car_state_only, 'carStateSP', 'car_state'),
+    (Policy.car_state_priority, 'carStateSP', 'car_state'),
+    (Policy.map_data_only, 'liveMapDataSP', 'map_data'),
+    (Policy.map_data_priority, 'liveMapDataSP', 'map_data'),
+  ],
+  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
+)
+
+
+@pytest.mark.parametrize("resolver_class", [RefactoredSpeedLimitResolver], ids=["Refactored"])
+class TestSpeedLimitResolverValidation:
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_initial_state(self, resolver_class, policy):
+    resolver = resolver_class(policy)
+    for source in Source:
+      if source in resolver._limit_solutions:
+        assert resolver._limit_solutions[source] == 0.
+        assert resolver._distance_solutions[source] == 0.
+
+  @parametrized_policies
+  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class(policy)
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the resolver
+    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
+    assert speed_limit == source_speed_limit
+    assert source == Source[function_key]
+
+  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
+    resolver = resolver_class(Policy.combined)
+    sm_mock = setup_sm_mock(mocker)
+    socket_to_source = {'carStateSP': Source.car_state, 'liveMapDataSP': Source.map_data}
+    minimum_key, minimum_speed_limit = min(
+      ((key, sm_mock[key].speedLimit) for key in
+       socket_to_source.keys()), key=lambda x: x[1])
+
+    # Assert the resolver
+    speed_limit, _, source = resolver.resolve(minimum_speed_limit, 0, sm_mock)
+    assert speed_limit == minimum_speed_limit
+    assert source == socket_to_source[minimum_key]
+
+  @parametrized_policies
+  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class(policy)
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the parsing
+    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
+    assert resolver._limit_solutions[Source[function_key]] == source_speed_limit
+    assert resolver._distance_solutions[Source[function_key]] == 0.
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
+    v_ego = 50
+    resolver = resolver_class(policy)
+
+    sm_mock = setup_sm_mock(mocker)
+    _speed_limit, _distance, _source = resolver.resolve(v_ego, 0, sm_mock)
+
+    # After resolution
+    assert _speed_limit is not None
+    assert _distance is not None
+    assert _source is not None
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
+    resolver = resolver_class(policy)
+    sm_mock = mocker.MagicMock()
+    sm_mock['gpsLocation'].unixTimestampMillis = (time.monotonic() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
+    resolver._get_from_map_data(sm_mock)
+    assert resolver._limit_solutions[Source.map_data] == 0.
+    assert resolver._distance_solutions[Source.map_data] == 0.

sunnypilot/selfdrive/selfdrived/events.py

@@ -1,4 +1,6 @@
+import cereal.messaging as messaging
 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
 
@@ -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, personality) -> Alert:
+  speedLimit = sm['longitudinalPlanSP'].slc.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__()
@@ -132,6 +145,18 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.pedalPressedAlertOnly: {
     ET.WARNING: NoEntryAlert("Pedal Pressed")
-  }
+  },
+
+  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.speedLimitValueChange: {
+    ET.WARNING: speed_limit_adjust_alert,
+  },
 
 }