From 3687f7a0120a6a08087b63dbfdb635c09468e007 Mon Sep 17 00:00:00 2001
From: ajouatom <ajouatom@gmail.com>
Date: Tue, 25 Feb 2025 15:31:13 +0900
Subject: [PATCH] fix. roadlimitspeed fix.. navInstruction speedLimit

---
 selfdrive/carrot/carrot_man.py | 9 ++++++++-
 selfdrive/navd/navd.py         | 2 ++
 selfdrive/ui/carrot.cc         | 2 +-
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/selfdrive/carrot/carrot_man.py b/selfdrive/carrot/carrot_man.py
index 935cbaf..b4577ce 100644
--- a/selfdrive/carrot/carrot_man.py
+++ b/selfdrive/carrot/carrot_man.py
@@ -847,6 +847,7 @@ class CarrotServ:
     self.params_memory = Params("/dev/shm/params")
 
     self.nRoadLimitSpeed = 30
+    self.nRoadLimitSpeed_counter = 0
 
     self.active_carrot = 0     ## 1: CarrotMan Active, 2: sdi active , 3: speed decel active, 4: section active, 5: bump active, 6: speed limit active
     self.active_count = 0
@@ -1746,7 +1747,13 @@ class CarrotServ:
           nRoadLimitSpeed = 30
       else:
         nRoadLimitSpeed = 30
-      self.nRoadLimitSpeed = nRoadLimitSpeed
+      #self.nRoadLimitSpeed = nRoadLimitSpeed
+      if self.nRoadLimitSpeed != nRoadLimitSpeed:
+        self.nRoadLimitSpeed_counter += 1
+        if self.nRoadLimitSpeed_counter > 5:
+          self.nRoadLimitSpeed = nRoadLimitSpeed
+      else:
+        self.nRoadLimitSpeed_counter = 0
 
       ### SDI
       self.nSdiType = int(json.get("nSdiType", -1))
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index dea9cd7..8d5f8c1 100644
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -298,6 +298,8 @@ class RouteEngine:
 
     if ('maxspeed' in closest.annotations) and self.localizer_valid:
       msg.navInstruction.speedLimit = closest.annotations['maxspeed']
+      print(closest.annotations)
+
 
     # Speed limit sign type
     if 'speedLimitSign' in step:
diff --git a/selfdrive/ui/carrot.cc b/selfdrive/ui/carrot.cc
index 3779dd8..f3a4ccd 100644
--- a/selfdrive/ui/carrot.cc
+++ b/selfdrive/ui/carrot.cc
@@ -1155,7 +1155,7 @@ public:
           const auto nav_inst = sm["navInstruction"].getNavInstruction();
           xTurnInfo = 0;
           xDistToTurn = nav_inst.getManeuverDistance();
-          nRoadLimitSpeed = nav_inst.getSpeedLimit();
+          nRoadLimitSpeed = nav_inst.getSpeedLimit() * 3.6;
           QString maneuverType = QString::fromStdString(nav_inst.getManeuverType());
           QString manuverModifier = QString::fromStdString(nav_inst.getManeuverModifier());
           if (maneuverType == "turn") {