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Controls - Speed Limit Controller - Speed Limit Changed Alert

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This commit is contained in:
FrogAi 2024-05-10 21:46:31 -07:00
parent aa05d280ab
commit 98d5ca911f
2 changed files with 12 additions and 1 deletions
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5
selfdrive/controls/controlsd.py
View File

@ -932,7 +932,7 @@ class Controls:
self.events.add(EventName.openpilotCrashed)
self.openpilot_crashed_triggered = True
if self.frogpilot_toggles.speed_limit_confirmation:
if self.frogpilot_toggles.speed_limit_alert or self.frogpilot_toggles.speed_limit_confirmation:
current_speed_limit = self.sm['frogpilotPlan'].slcSpeedLimit
desired_speed_limit = self.sm['frogpilotPlan'].unconfirmedSlcSpeedLimit
@ -966,6 +966,9 @@ class Controls:
self.FPCC.speedLimitChanged = False
self.params_memory.put_bool("SLCConfirmedPressed", False)
if (speed_limit_changed_lower or speed_limit_changed_higher) and self.frogpilot_toggles.speed_limit_alert:
self.events.add(EventName.speedLimitChanged)
if self.FPCC.speedLimitChanged:
self.speed_limit_timer += DT_CTRL
if self.speed_limit_timer >= 10:

8
selfdrive/controls/lib/events.py
View File

@ -1010,6 +1010,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.),
},
EventName.speedLimitChanged: {
ET.PERMANENT: Alert(
"Speed Limit Changed",
"",
AlertStatus.frogpilot, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
},
EventName.torqueNNLoad: {
ET.PERMANENT: torque_nn_load_alert,
},