[MICI] ui: Speed Limit Assist preActive status (#1742)

* mici init

* obv

* hybrid

* adapt

* less

* consolidate

* oops

Refactor speed limit alert function to use car state directly.

* no event border for tizi/tici

* abstract it

* less

* nah

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -13,6 +13,8 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitAlertRenderer
+
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 
@@ -46,6 +48,7 @@ class IconLayout(NamedTuple):
   side: IconSide
   margin_x: int
   margin_y: int
+  alpha: float = 255.0
 
 
 class AlertLayout(NamedTuple):
@@ -86,9 +89,10 @@ ALERT_CRITICAL_REBOOT = Alert(
 )
 
 
-class AlertRenderer(Widget):
+class AlertRenderer(Widget, SpeedLimitAlertRenderer):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
 
     self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                            letter_spacing=-0.02)
@@ -155,6 +159,7 @@ class AlertRenderer(Widget):
   def _icon_helper(self, alert: Alert) -> AlertLayout:
     icon_side = None
     txt_icon = None
+    icon_alpha = 255.0
     icon_margin_x = 20
     icon_margin_y = 18
 
@@ -191,6 +196,9 @@ class AlertRenderer(Widget):
       icon_margin_x = 8
       icon_margin_y = 0
 
+    elif event_name == 'speedLimitPreActive':
+      icon_side, txt_icon, icon_alpha, icon_margin_x, icon_margin_y = SpeedLimitAlertRenderer.speed_limit_pre_active_icon_helper(self)
+
     else:
       self._turn_signal_timer = 0.0
 
@@ -212,7 +220,7 @@ class AlertRenderer(Widget):
       text_width,
       self._rect.height,
     )
-    icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y) if txt_icon is not None and icon_side is not None else None
+    icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y, icon_alpha) if txt_icon is not None and icon_side is not None else None
     return AlertLayout(text_rect, icon_layout)
 
   def _render(self, rect: rl.Rectangle) -> bool:
@@ -235,6 +243,9 @@ class AlertRenderer(Widget):
 
     self._draw_background(alert)
 
+    # update speed limit UI states
+    SpeedLimitAlertRenderer.update(self)
+
     alert_layout = self._icon_helper(alert)
     self._draw_text(alert, alert_layout)
     self._draw_icons(alert_layout)
@@ -257,7 +268,7 @@ class AlertRenderer(Widget):
       pos_x = int(self._rect.x + self._rect.width - alert_layout.icon.margin_x - alert_layout.icon.texture.width)
 
     if alert_layout.icon.texture not in (self._txt_turn_signal_left, self._txt_turn_signal_right):
-      icon_alpha = 255
+      icon_alpha = alert_layout.icon.alpha
     else:
       icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
 

sunnypilot/selfdrive/selfdrived/events.py

@@ -10,7 +10,7 @@ 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
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-
+from openpilot.system.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -23,6 +23,8 @@ EventNameSP = custom.OnroadEventSP.EventName
 # get event name from enum
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
+IS_MICI = HARDWARE.get_device_type() == 'mici'
+
 
 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'].speedLimit.resolver.speedLimit
@@ -37,10 +39,14 @@ def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
 
 def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
+  v_cruise_cluster = CS.vCruiseCluster
+  set_speed = sm['controlsState'].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+  set_speed_conv = round(set_speed * speed_conv)
+
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
   alert_1_str = ""
-  alert_size = AlertSize.none
+  alert_size = AlertSize.small
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
     # PCM long
@@ -50,7 +56,14 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     speed_unit = "km/h" if metric else "mph"
 
     alert_1_str = f"Speed Limit Assist: set to {pcm_long_required_max_set_speed_conv} {speed_unit} to engage"
-    alert_size = AlertSize.small
+  else:
+    if IS_MICI:
+      if set_speed_conv < speed_limit_final_last_conv:
+        alert_1_str = "Press + to confirm speed limit"
+      elif set_speed_conv > speed_limit_final_last_conv:
+        alert_1_str = "Press - to confirm speed limit"
+    else:
+      alert_size = AlertSize.none
 
   return Alert(
     alert_1_str,