feat: cruise warning signs and speed limit sign sizing

Cruise warning sign appears above speed limit sign when cruise set
speed is too far from the speed limit:
- Red (over): cruise >= limit + 10 (if limit >= 50) or + 5 (if < 50)
- Green (under): cruise <= limit - 5
- Only when cruise active (not paused/disabled) and limit >= 20
- Nightrider mode: colored text/border on black background

Speed limit sign enlarged 5%. 20px gap between signs. Bench mode
gains cruiseactive command (0=disabled, 1=active, 2=paused).

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

selfdrive/clearpilot/bench_cmd.py

@@ -7,6 +7,7 @@ Usage:
   python3 -m selfdrive.clearpilot.bench_cmd speed 20
   python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45
   python3 -m selfdrive.clearpilot.bench_cmd cruise 55
+  python3 -m selfdrive.clearpilot.bench_cmd cruiseactive 0|1|2  (0=disabled, 1=active, 2=paused)
   python3 -m selfdrive.clearpilot.bench_cmd engaged 1
   python3 -m selfdrive.clearpilot.bench_cmd debugbutton       (simulate LKAS debug button press)
   python3 -m selfdrive.clearpilot.bench_cmd dump
@@ -89,6 +90,7 @@ def main():
     "speed": "BenchSpeed",
     "speedlimit": "BenchSpeedLimit",
     "cruise": "BenchCruiseSpeed",
+    "cruiseactive": "BenchCruiseActive",
     "engaged": "BenchEngaged",
   }
 

selfdrive/clearpilot/bench_onroad.py

@@ -8,6 +8,7 @@ configurable vehicle state. Control values via params in /dev/shm/params:
   BenchSpeed         - vehicle speed in mph (default: 0)
   BenchSpeedLimit    - speed limit in mph (default: 0, 0=hidden)
   BenchCruiseSpeed   - cruise set speed in mph (default: 0, 0=not set)
+  BenchCruiseActive  - 0=disabled, 1=active, 2=paused/standstill (default: 0)
   BenchGear          - P, D, R, N (default: P)
   BenchEngaged       - 0 or 1, cruise engaged (default: 0)
 
@@ -33,6 +34,7 @@ def main():
   params_mem.put("BenchSpeed", "0")
   params_mem.put("BenchSpeedLimit", "0")
   params_mem.put("BenchCruiseSpeed", "0")
+  params_mem.put("BenchCruiseActive", "0")
   params_mem.put("BenchGear", "P")
   params_mem.put("BenchEngaged", "0")
 
@@ -64,16 +66,24 @@ def main():
       speed_limit_mph = float((params_mem.get("BenchSpeedLimit", encoding="utf-8") or "0").strip())
       cruise_mph = float((params_mem.get("BenchCruiseSpeed", encoding="utf-8") or "0").strip())
       gear_str = (params_mem.get("BenchGear", encoding="utf-8") or "P").strip().upper()
+      cruise_active_str = (params_mem.get("BenchCruiseActive", encoding="utf-8") or "0").strip()
       engaged = (params_mem.get("BenchEngaged", encoding="utf-8") or "0").strip() == "1"
 
       speed_ms = speed_mph * CV.MPH_TO_MS
       speed_limit_ms = speed_limit_mph * CV.MPH_TO_MS
+      cruise_ms = cruise_mph * CV.MPH_TO_MS
       gear = gear_map.get(gear_str, car.CarState.GearShifter.park)
 
+      # Cruise state: 0=disabled, 1=active, 2=paused
+      cruise_active = cruise_active_str == "1"
+      cruise_standstill = cruise_active_str == "2"
+
       # ClearPilot speed processing (~2 Hz at 10 Hz loop)
       if frame % 5 == 0:
         has_speed = speed_mph > 0
-        speed_state.update(speed_ms, has_speed, speed_limit_ms, is_metric=False)
+        speed_state.update(speed_ms, has_speed, speed_limit_ms, is_metric=False,
+                           cruise_speed_ms=cruise_ms, cruise_active=cruise_active or cruise_standstill,
+                           cruise_standstill=cruise_standstill)
 
       # pandaStates — 10 Hz (thermald reads ignition from this)
       if frame % 1 == 0:

selfdrive/clearpilot/speed_logic.py

@@ -18,7 +18,8 @@ class SpeedState:
     self.params_memory = Params("/dev/shm/params")
     self.prev_speed_limit = 0
 
-  def update(self, speed_ms: float, has_speed: bool, speed_limit_ms: float, is_metric: bool):
+  def update(self, speed_ms: float, has_speed: bool, speed_limit_ms: float, is_metric: bool,
+             cruise_speed_ms: float = 0.0, cruise_active: bool = False, cruise_standstill: bool = False):
     """
     Convert raw m/s values to display-ready strings and write to params_memory.
 
@@ -27,18 +28,24 @@ class SpeedState:
       has_speed: whether we have a valid speed source
       speed_limit_ms: current speed limit in m/s (from CAN or bench)
       is_metric: True if car's CAN reports metric units (e.g. Canada)
+      cruise_speed_ms: cruise control set speed in m/s
+      cruise_active: True if cruise is engaged and not paused
+      cruise_standstill: True if cruise is paused at standstill
     """
     if is_metric:
       speed_display = speed_ms * CV.MS_TO_KPH
       speed_limit_display = speed_limit_ms * CV.MS_TO_KPH
+      cruise_display = cruise_speed_ms * CV.MS_TO_KPH
       unit = "km/h"
     else:
       speed_display = speed_ms * CV.MS_TO_MPH
       speed_limit_display = speed_limit_ms * CV.MS_TO_MPH
+      cruise_display = cruise_speed_ms * CV.MS_TO_MPH
       unit = "mph"
 
     speed_int = int(math.floor(speed_display))
     speed_limit_int = int(math.floor(speed_limit_display))
+    cruise_int = int(round(cruise_display))
 
     # Detect speed limit changes (groundwork for future chime)
     if speed_limit_int != self.prev_speed_limit:
@@ -50,3 +57,21 @@ class SpeedState:
     self.params_memory.put("ClearpilotSpeedLimitDisplay", str(speed_limit_int) if speed_limit_int > 0 else "0")
     self.params_memory.put("ClearpilotSpeedUnit", unit)
     self.params_memory.put("ClearpilotIsMetric", "1" if is_metric else "0")
+
+    # Cruise warning logic
+    # Only evaluate when speed limit >= 20 and cruise is active (not paused, not disabled)
+    warning = ""
+    warning_speed = ""
+    cruise_engaged = cruise_active and not cruise_standstill
+
+    if speed_limit_int >= 20 and cruise_engaged and cruise_int > 0:
+      over_threshold = 10 if speed_limit_int >= 50 else 5
+      if cruise_int >= speed_limit_int + over_threshold:
+        warning = "over"
+        warning_speed = str(cruise_int)
+      elif cruise_int <= speed_limit_int - 5:
+        warning = "under"
+        warning_speed = str(cruise_int)
+
+    self.params_memory.put("ClearpilotCruiseWarning", warning)
+    self.params_memory.put("ClearpilotCruiseWarningSpeed", warning_speed)