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Speed limit controller

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Added toggle to control the cruise set speed according to speed limit supplied by OSM, NOO, or the vehicle itself.

Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: Efini <19368997+efini@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-Authored-By: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 6907410750
commit 3a926ddfbe
23 changed files with 703 additions and 29 deletions
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19
selfdrive/ui/ui.cc
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@@ -247,11 +247,18 @@ static void update_state(UIState *s) {
scene.enabled = controlsState.getEnabled();
scene.experimental_mode = controlsState.getExperimentalMode();
}
if (sm.updated("driverMonitoringState")) {
auto driverMonitoringState = sm["driverMonitoringState"].getDriverMonitoringState();
scene.right_hand_drive = driverMonitoringState.getIsRHD();
}
if (sm.updated("frogpilotCarControl")) {
auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl();
if (scene.always_on_lateral) {
scene.always_on_lateral_active = !scene.enabled && frogpilotCarControl.getAlwaysOnLateral();
}
if (scene.speed_limit_controller) {
scene.speed_limit_changed = frogpilotCarControl.getSpeedLimitChanged();
}
}
if (sm.updated("frogpilotPlan")) {
auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
@@ -265,6 +272,13 @@ static void update_state(UIState *s) {
scene.obstacle_distance_stock = frogpilotPlan.getSafeObstacleDistanceStock();
scene.stopped_equivalence = frogpilotPlan.getStoppedEquivalenceFactor();
}
if (scene.speed_limit_controller) {
scene.speed_limit = frogpilotPlan.getSlcSpeedLimit();
scene.speed_limit_offset = frogpilotPlan.getSlcSpeedLimitOffset();
scene.speed_limit_overridden = frogpilotPlan.getSlcOverridden();
scene.speed_limit_overridden_speed = frogpilotPlan.getSlcOverriddenSpeed();
scene.unconfirmed_speed_limit = frogpilotPlan.getUnconfirmedSlcSpeedLimit();
}
scene.adjusted_cruise = frogpilotPlan.getAdjustedCruise();
}
if (sm.updated("liveLocationKalman")) {
@@ -368,6 +382,11 @@ void ui_update_frogpilot_params(UIState *s) {
scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 30;
scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
scene.standby_mode = screen_management && params.getBool("StandbyMode");
scene.speed_limit_controller = params.getBool("SpeedLimitController");
scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset");
scene.show_slc_offset_ui = scene.speed_limit_controller && params.getBool("ShowSLCOffsetUI");
scene.use_vienna_slc_sign = scene.speed_limit_controller && params.getBool("UseVienna");
}
void UIState::updateStatus() {