From d97fc9077e58509a8856037973695a171a01c1f7 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Sat, 18 May 2024 01:59:31 -0500
Subject: [PATCH] wip

---
 common/params.cc                | 1 +
 selfdrive/controls/controlsd.py | 1 +
 selfdrive/ui/qt/onroad.cc       | 4 ++++
 3 files changed, 6 insertions(+)

diff --git a/common/params.cc b/common/params.cc
index a082395..6f13cb2 100755
--- a/common/params.cc
+++ b/common/params.cc
@@ -233,6 +233,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarModel", PERSISTENT},
     {"CarSpeedLimit", PERSISTENT},
     {"CarSpeedLimitLiteral", PERSISTENT},
+    {"SpeedLimitLatDesired", PERSISTENT},
     {"CECurves", PERSISTENT},
     {"CECurvesLead", PERSISTENT},
     {"CENavigation", PERSISTENT},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a9d0276..b7c335a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1239,6 +1239,7 @@ class Controls:
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
       # CC.cruiseControl.resume = True
       CC.cruiseControl.cancel = True
+    self.params.set_int("SpeedLimitLatDesired", CC.actuators.speed)
     # CC.actuators.speed
     # print ("Alive")
     return CC
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index ef6a65f..2cc8859 100755
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -448,6 +448,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   QString speedLimitStr = QString::number(paramsMemory.getInt("CarSpeedLimitLiteral"));
   drawSpeedWidget(p, 60, 45 + (225), QString("Limit"), speedLimitStr, QColor(0xff, 0xff, 0xff));
  
+  // Todo: needs to be changed to calculate off of actual speed limit for release
+  QString SpeedLimitLatDesired = QString::number(paramsMemory.getInt("SpeedLimitLatDesired"));
+  drawSpeedWidget(p, 60, 45 + (225 * 2), QString("Exp"), SpeedLimitLatDesired, QColor(0xff, 0xff, 0xff));
+
   // Todo: lead speed
   // Todo: Experimental speed