From 19b62e3bdcde9c1a32bf6aacc3ad8fc55cd82707 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 8 Jun 2024 13:18:31 -0700
Subject: [PATCH] Visuals - Custom Onroad UI - Pedals Being Pressed

Display the brake and gas pedals on the onroad UI below the steering wheel icon.
---
 selfdrive/car/chrysler/carstate.py            |   2 +
 selfdrive/car/honda/carstate.py               |   6 ++
 selfdrive/car/hyundai/carstate.py             |   4 +
 selfdrive/car/subaru/carstate.py              |   4 +
 selfdrive/car/toyota/carstate.py              |   2 +
 selfdrive/car/volkswagen/carstate.py          |   4 +
 .../assets/other_images/brake_pedal.png       | Bin 0 -> 6522 bytes
 .../assets/other_images/gas_pedal.png         | Bin 0 -> 11278 bytes
 selfdrive/ui/qt/onroad/annotated_camera.cc    |  71 +++++++++++++++++-
 selfdrive/ui/qt/onroad/annotated_camera.h     |  24 ++++++
 selfdrive/ui/ui.cc                            |   6 ++
 selfdrive/ui/ui.h                             |   6 ++
 12 files changed, 128 insertions(+), 1 deletion(-)
 create mode 100644 selfdrive/frogpilot/assets/other_images/brake_pedal.png
 create mode 100644 selfdrive/frogpilot/assets/other_images/gas_pedal.png

diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 0e2a82bf2..3085a320a 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -104,6 +104,8 @@ class CarState(CarStateBase):
     self.button_counter = cp.vl[self.button_message]["COUNTER"]
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["ESP_1"]["BRAKE_PRESSED_ACC"])
+
     self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.carFingerprint in RAM_CARS:
       self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] or cp.vl["Center_Stack_1"]["LKAS_Button"]
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 5bbbf7740..253a0ae93 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -274,6 +274,12 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
     # FrogPilot CarState functions
+    brake_light_cars = (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH,
+                        CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E)
+
+    if self.CP.carFingerprint in brake_light_cars or (self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS):
+      fp_ret.brakeLights = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else bool(ret.brake > 0.4)
+
     self.prev_distance_button = self.distance_button
     self.distance_button = self.cruise_setting == 3
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 4149dec39..a9663a9d9 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -190,6 +190,8 @@ class CarState(CarStateBase):
       self.main_enabled = not self.main_enabled
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"])
+
     fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
 
     self.prev_distance_button = self.distance_button
@@ -286,6 +288,8 @@ class CarState(CarStateBase):
                                           else cp_cam.vl["CAM_0x2a4"])
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["TCS"]["DriverBraking"])
+
     fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
 
     self.prev_distance_button = self.distance_button
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 9c96076ae..8553a3616 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -129,7 +129,10 @@ class CarState(CarStateBase):
     # FrogPilot CarState functions
     self.lkas_previously_enabled = self.lkas_enabled
     if self.car_fingerprint not in PREGLOBAL_CARS:
+      fp_ret.brakeLights = bool(cp_cam.vl["ES_DashStatus"]["Brake_Lights"])
       self.lkas_enabled = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"]
+    else:
+      fp_ret.brakeLights = bool(cp_cam.vl["ES_Brake"]["Cruise_Brake_Lights"])
 
     return ret, fp_ret
 
@@ -202,6 +205,7 @@ class CarState(CarStateBase):
       messages = [
         ("ES_DashStatus", 20),
         ("ES_Distance", 20),
+        ("ES_Brake", 20),
       ]
     else:
       messages = [
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a9a9e6c96..4faa40019 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -209,6 +209,8 @@ class CarState(CarStateBase):
         self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["ESP_CONTROL"]["BRAKE_LIGHTS_ACC"])
+
     self.cruise_decreased_previously = self.cruise_decreased
     self.cruise_decreased = self.pcm_acc_status == 10
     self.cruise_increased_previously = self.cruise_increased
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index db9c61243..4a6122093 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -154,6 +154,8 @@ class CarState(CarStateBase):
     self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
+
     self.prev_distance_button = self.distance_button
     self.distance_button = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
 
@@ -258,6 +260,8 @@ class CarState(CarStateBase):
     ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(pt_cp.vl["Motor_2"]['Bremstestschalter'])
+
     self.prev_distance_button = self.distance_button
     self.distance_button = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
 
diff --git a/selfdrive/frogpilot/assets/other_images/brake_pedal.png b/selfdrive/frogpilot/assets/other_images/brake_pedal.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c0ee24d1842f20e3edb37b8b9aeac036d902ab4
GIT binary patch
literal 6522
zcmeHMS2WzwxBh9-dk{6ECNYeN9xXz&=+POXL@-*6&X7cjHagLRLA24Lm*~Aj?*t)6
z8(oy)%Ktvyr~7zc?!!5I?RCEWt-Zf<)+y_RX=x~tlQ5A006?yyte|si{cqa^(Vg2q
zQbbwt*5J75D9Hn;VHPw1Fbb<EJb&#4*)=0hFx5-BHs94-G@CRtTbwj$P$5!R2B=N7
zq=vtJ`br_r)-y`=GNu(De^i@VT&as-fgKw1FqTn?lC8~AVWRB~tJuP?FEOxG3;8(6
znA)!I<b3|MhThSZyZf21o>`gG1s0Q@u8a0ezJV`eZ!VX8Z#=<-$6qLLhGG2qckp7J
z+BM{mv}hiM)*y8rb>1=c&w<2guTnLTX;e70qA9`|%3=?2d7wgelCe(m_^)QH$6y?b
zK}285`;cgb24ZT#H}NXtVK7<_i*}y){Qp~`V#V=Lz=9O$wV{{?g49^}>3IY5=pj$W
z*Mh&-QMMNK%iaN&b*J>y&W8r8jFkgO0jWIvN?P`#{h#Pz(PA_8)VEE}Y|MR9U4Iq<
zx&j+nV!)XYP;q-6$!*GyypaZ^N;#ylw_ucy@((*G7gjjyj0zojG8ZRK{s6mC5qqpl
zsuF+;2(YU=!<E>_++E~0{E5qZo3=Mq)Rk3JQFySiWA4_RCuT~T_VQyP?<7;scmxY`
z`-_mW!mx$`lVz!lCQnwbdl}y!q-ty|zGFI>RJx4<zyJNNKR>szJTYOgkwQj!-0r`<
ze<)qi8fAU8ajLOCU*53+qMriHoc`JWqBE#H7^pvOpe6r4!2Dxf3@$|?Z#{PP0y>HR
zc;v3PwB7W5!kT5DD1|WAOWT_=Lqn<?W`x&Bw6M+isM(C_9MwN~jWUlCibAHhDc-v*
z_flA_ICdk$V>Wf*#BcXIS@9>Lf5GlBhMG9h&Zco8kO>#_YV&x)P!RIpim<`&^|eKU
zg{@!l9t{&UMtmN<O}2>^ZN0>}jYmET6T(DRl+c9g|Ay_q;Cug_qu@V<3Y!t$N21jN
z6|EW&nG-?C|0Fww&*T1D1-T7G3_eTwA0<6XL+rKd|C7`k1C50$QxSM$6eJz%1g8ii
zg)w&(+KA3cl_>$_56uEOgS^lt&%-6gQ4_4CaA#9IXF(Pbr<-sPEVYtRCHuO8NnX;f
z0nQOQ_#C+{m&PJ7=Q8?Fire}7L^*Z~LT?H{xg9^}$Da+;_oa%OZbE9dkfjOU82ms8
zu#YE43d|J0=H=UaU~sL^YX(}>@zwxOd8bu=6%D*%__)2puV0*Z<p~ARe;l#=k%;ja
zX6d`udswH3yC*>J7LoJqaNGFzRCpLZAOR=?tz<wXUZ7Sn+tdpmDqxr(kRJ&A>WLFb
z2|%k!bZuJ*919CvAF9=V0*!sxzH8v=ahDelpa#Tofx3gEWuV;LneZC{1J~JOppFcf
z5{b25{8m~?HbWc-?27{n<UjyE08wK;i9zsOasYp!6`{?lYAXrdg7}rdzLxfyEIANA
zFj<rcGq7W6qzC4b_!5@H2yj@=vIql<Bl^!5bZFi^VC_LSs&4o#J<_2M51s)Oj-x>=
zyw&gNwb2jl+|!d(3%U;CaG)PSCOa&lmA`%{vWl{5u=3)}C>Y%V8QhU`Nrv5VPcWOT
zcs;-$2<=m*xloP64~#1Af1y&6tEhzOkDD#)$G%7UhO?bFEB36s(8}W=4P?PrZW*3z
zZ|>U*_w;VcU~60y`TfoawGdJ$Z`k{yV5mN4owSn7E{rg1vLa{Qo*%@0C}`9ho(;8p
zs~VDI&du2lS2^Bb@Jx-yY4yeVHEZt<QlvP|*G$NlC(XCOK@4Ey8~Nd`N@ZXR&$&|i
zVm$}Whi3jnzk}pgEMz(`MA2%E1T8kyLrS_g(Lf;U*HxqNV=>%Tu-bTe_$y{m&0hl_
zO^;(q=`9JUe`)qY1Jy5X6(3;_kgEYSzq(v&d$jSUi~~JC0l``#bN#OffF^bRuJSIX
z#wzET#dVj`67tDOQ&rQKatYjMUtPjzf4(#l{ReD+PTp<Y*S)lur1B#KuJD1M4p{*j
z6^69)zSHv`H7F4$$ATXN+0|A#SHd>U!n6n}zp}l}0{NUUB-49raG~<io2Be47@e9v
z9QFmad%c<4yE%`TIj#A+Vyul?PJ5R+kKzKW_}AkFqIO3TZVaPfre1AJAGXm)Bcjd*
z7vZe{s<>?C6XYO!0xI6YAY^(%QD^C1@tTT|WqNvUmer-MXjgjzw6)X;+noD}1lPJ?
z*4Ti*Gdf6Tf<Wg-rGcz+S59Xt2kxb;b=f*+w2!T;qC4}2!21MeOMZ8TMz0nO)+QRD
zc}erKqYb87Y7NGRgC+)~Jw{-c>dxf_`u+69RW~Dv0UbAI^)Czx&+860mu8m-gq+}y
zva|v5+@_ahQ?MQHv&5;XKTjQhgGLE8Bs&bsEIx9DFK5BMx3W$9@5k93UPU`Ak=V|&
z6s9#!OZu3dT&l_<G~Vt-YCH?>uaGvLV|gaHynWXUH_WRj!Qy%Z^L?({nNiY8PS?|f
ziy9#zOBAi-$t4eI@qXrdBAlJ=EoQuX04A88-R8b_;mMqlbni{U)fz^*n4C)6fFY%5
z@wXVfzy~&@Wl#)#+2PrA_20t`D=@1sd)ii!Q0cpeUwCy^3f?EpAU^0WLVS0}SBzwM
zp^O2s5d(2?V3s?sdMD2&g;}ND7P5B1pKNeqP|lQxX;^=ek%5A$zRpBlLdU0-O%_GA
zcrm6xFl|`6k4+)~Vhkj3XwV1FH%={9IRdig@TN^|jA?%1SzYEaYHM8*)fv@PF`*4-
ziGbrohqkB$=J`+c5x1nidz7KwE)=r@#Zt#7`VKo-tV1dD&J+>^rmOl|Kg6rhUP6Yr
z2^%toGe&)9czv`bgHXc|p%O2oTT%<UG0e;>(TCnAgFv(A@hZdMIJ5kPx)o=3!MUGY
zUvF_bs<Sk0xWe6c?p5Q@qn{t7tDe2(!S)j*(g$8;WMI)%ev2X_38@-B@}SRYJue?{
zg&kRu8AK{vEHseUlU`~FRTJJHuqDO#Uf0G@b$RPX&zMdw@jIQIO|y7R!NxfKQ03lN
zifXSi=P5IN7l3vYxvfnop0r3>Ic+<_f$A{HKcG*Bo?H)h&F5#<UNih5kq4Wb=Xlti
zb{3>XB`YXH@+L7q;QDt|FsTorg9nAkuRg!H6zJolvc?;W2;z@ph4Ho3o)HEU+2|V~
z(f0dxr(fV}Grc=c{n+px|H*ouCVd`NHR49df=cxjJ}MD-z>doF$F`bx$WnwhBwVhD
z=Lb~h@}AEjmPqa^Ynr4vEoskShFK^uuN1MW7*+<N5VO5OcdWw^ytc=_dTt~C-bo0P
z9dWU75nHLyM8lnk50mwNh#NPKxAP+2ow-YN+rR5}KH)K!z#EG<1X+26{YBH1P2oFV
z`SHtJb!%~zS$ahHn^dFkl)g4LO0tP`*VTOUWa2vFR_fZz29xbV2WoXOr&nOo8$)ZM
zi}e|p2_ngYVf~0)ROz@FkGW}B^2Nv(LCm_o%sn<uO!!E{A*tBKHhQL*1Ct`^yM<_Z
zQ!uje&9^b}(O7JTt)*_o?x>xTa?--PReb_05m8*`==rHX5~c?ur<toqhK}yL&Iw%>
z-A#P166tDhvp#Edv5nX^5vb5GM65x!BD$DdGe@QdE1$qvrf0<(q>^gujh~jCc~mz#
zB2rn!MCb?Y8gyEPvqr)yxk!3M;2PVb!C<A=pi>hENgH^n_xJqb0w`=I#;dHu><Hei
zlaXmRwmqreZ_bLtGxRKW(hy&HoH+s<pGS*+H8y6L{lzfW1Qlka{q6i=)O!Eh18IR4
zL#8^CzTaOmY0uj+Yfr=c&r7a2dOx83L~V0g88^!tS>O?RUi`Kx(q*{?e48$_{Crfn
z&4W^lGrf#?HM=8R@69Qr=sZY+_0zM!t|-z7)rK6QH?0c1F0;kh=7nc|ivsf`cCxxw
z7f&nDy$l@j{OJDu1v-L51rS+Zz^5U`YnV&#BpO=iP(?6566t-T?k9SZvR}t(!cB6l
zz*R&o^ka16^FqbOcM3k+LI>|uV)YSXzv~X#++hEla&{>alh8L)Q9$gZkgHntTniqY
ztD)IJ@T{R`xZ!&S@mK&oQ#73W$+m7;1tEXZVDO^<Lh<f!0;^on=^G}R0`Bsh5~irX
zb&h!hnJcYF)?W12F&ZFoMcj(IM(3H`BCDfd;v@L>-`)x(((~}>tvjHpW7f3cm8pxX
zeDV)1ZkQ~2*+@mnMB`<WnEBD!Wbq+}9n_?bh}k%SQJh%xZZd)-INY(r;o{C(a@oA$
zQ8G(4Zo5tk=YiJFi_6S2BzGYP{zb?z9NpZqms)F-rr}d}7nju_NUjkGa&{8u^ECci
zfU1b##&w7dPUbqdYRnqC;?5|UaeTJ&;%lxvWJXG+Uop=>=37TyoyoLw|Bq_hs6tr}
z<wNf`M@K*CY`t4J?lvt^zD#Q&iwNEGw}x_Er)zx^Trcyi&-F~l=6i&88BZT0>B+6Q
zN7mLtEwg0(zUrN$Ye)l^8BO`1_I71P4^o|$sDIt0!zKIzB=ud>iQ%O_&z0ESj7Czg
zv~0^)S^1E{st6aJSU(vi`X5i=y-(YY=%}B{1YTj=vIpnr1C&Zn#LULE_xoOPxSmfu
zw{7ZIO^?7^dRsk<2nDkm_?U)*Z}e}>&ryeGuAd<(kY=53OYc;@nulRDV3l;O^}EB4
zj@L7EW-oTDX@)1l7itSAhWGlpaNkmfn1&DPf~I~q`*(Q!=+JXbNL!+44f0mXK7e&F
z^Sq1?_<aQ7fIo<W|Eiq#opNQCUTPpRmmg278VGSa4dskaxm>G4_?_^{9(!y}#z5eS
ziz!$Ii&mea`9_ZWFrf;L0_zY4f;XC?Mqc8giSq-0Ox{-xuGo>~gjxP#1^zy7n6ayF
zJJ-;>T18|gq3CAJ_|^s^z030Bv}KY9280+A6}H{bn+uEw#n=PGk_882N$~=*rs=ny
zbtN@)H}=VPV+POKhV1XVZ8RIneJO<SY@pxbrU%!=dE0&<_+-PbE_Tm_zG(bezONeZ
zOMMo$zkR0`E7I33sbau{+^_GB#=Q~Xg4|ehQa^SfPuf^1Pr*;10WFzi%RMl6^7UWL
zd$K4YvudfHasJGL*Cz4(HSbx-@DxPFS+0tk+vK)M{Nf?qbude$AScO|QCkkL_OENv
zO!8;nxa=c(k{eoV7sGe_Z55yU2};HKanZUdarfyP2Z(k+OLH)5r$TU4Q=4U!`Lf8S
zcy6A*;(o>>Yf=*)$Zwj;5~&5CR`i-2VAI;uOdx3IZZ)UV{0OhoX@4_Jb2F@BTVo`S
zLOt!fVM(J{WXd>vH4xX>@687??9T7~g|E@nyO>(XBlydydb)P+I%4Ma#Xzi;z$DH~
zuNRz4nPJIdAaP<`k-d=BMSgSbmJW!w^R(85h~srC<>j;PKS8Byxxp@pFFvGw6t+sV
zRM?+flG~_kO-&V%Y5PMujlgKK#@L)t=XyQB7<J9FT23nW{BZ2ll~=9h8hP<a$$DW*
zY{z|?>NtksynQj-^?(;W6Mjw*=~~0F`d1uP{<KcR6mu{YG)^1a_mjT@O)-gc^KgE*
zE5cVskG^uwFq{I&r1y*3Ql)(3Ya4KQ(&Dt3cG;*qdVKOUG-E41Z@=y*B$U%L^T+(0
zmFE|ZQ`XSx<-FCYA6*>s%1P2&Z}uE1Ja^pu3%pp94EFq|=W<b!mAsWocPEWy$blOG
z@J;4mU0(6OuUQPnNX*+uEIoBGF7B`&cgGzwh(<)-DD)aEkbP*r2x*HSci!A`t8I{S
zcjmPx2nmM8fmGHCy-qVnrLQoDMp88X*LHZlyJTcsq0MG=yift&vv)k1bGLUnU2eg(
zG+>{4opn3HduX#<ng~csOq9UsEIaqj`BUQ{+fGxfD=S{}!$s@iYbdkRfu~~GvKPXs
zxWaTz6M1%N%VTvPjt)+WY#*-yK8v}Zs$ovu9rR1cvPPD@cH}NJKYpEh-_*G7cfvoQ
zrk*&A7sxxoaA>x9-06(Ie`>s8`%|rhWyQ@8eRuO*+-X6-$+^Sm{3)JvKK3V$_8K=a
zY8DIK3x-v;kD<vwzy)MzvDRKWBD##Zfp>lr0xpF*0}O7z6UM~`gHYF3Yd8-V7;g76
zsNJ-JVZz8!@~cQ=j&Q1XP5hRZ`;5VEjh7DZ4K=tNA*%YORdqgR_k%`X6}6K<R<>zs
z-6`H(%w)3@uQKqOt4c$9z4fl2S0dK~UJsNn<PfEXWEECp!>3L=6F;=+7vHhPd-1gv
z5oLWw8cgyLd|0C-<G)cavJ5F_`h0WLxw6k|&UW$`JW_>2l(j{)vAmeQdy$Y^4|Cf7
zjU!MYxOqI9b96eQwGK~TS5|U-ImRb2w+r;{ZJB{78>-E^Tzf`i5AGMSNKp0=&-)O@
zVKy0If2ADBB{ZWZ5f46pbYZ9OTXJ)`e>N@OVhKSY7EpWHgAMvOl_VduTjry&{D&P-
z)eL%Dc?^jEJAdFCiLobmr}VI`4Rxxwb367K*YB1eJ?C%TQ+r7>J;df(+|AND<N0GK
z$@5vdK4q``toj#|fGlReeK+hHVSECmop_6=IZ2{ERwk3+D53ougGxa?G{I6MXzjY1
zo-v8fB<_QnY8-#;fND|W_{P@E&Ow*#RF%fK7`*Bn<}}cWBO&8y^s?(HAn#I7ck=J3
zyd+8B*|#<Sts~9auGHnpS~efnOq);Vha4jTju%>6f9fL(n@`s7a<#h7I-h0Pqdn@9
zyY3D&`1{>VM3dCB>D7B3EZK1LqU;lmm3tz+VwnY|3`&~KHx5Ej#Hj6w_YhyhheXrr
zEDu>|ywxdwy$4Eb&Ndey^HV8JNC&O)P>QGLu&uGaWT>l=ewnKjDd0ut<M$-;dmLi!
znzt$Pxset_&pO+tL<+{W*3LM7Ihm|yFY48M@MrmX%TS<9RH*uU525Kw+|=nHVPlA&
zaWvEAb8DdrY0)T?m43qLw;hQS^^4zqRC<P8rGW*U@D~>cTJr;D{8jT8AtC{CS+w5Q
ze=5+&9etmzUefH|yN(p2vB$9$$!p7fxdR*qJ2_vBAs|Xwhyiz64zQ_Ajro@th3cd=
z9lpJo)tpz0NGlw#xX!W&jYS_DJ6;n|;f-NcA9|`@IO4Je++}O~(z;I;r*gaQQtzDA
z1iSndeZ!+sOjhmZZ16a(3WqlfW3OIoEdEB<!NLe^7A6)FA|>uCd=O==;K)B}b>oF*
zLUC)_kJ~R*Kqk7GBmRsn=P!9+p-P%t?FdM9p^<uc-z$@xVCY^qx}!X8q_EnL41nMP
zPX~yLLt!9NXOr90phTPgO0to!qB)?hOZ(3v=K!%928WGQGf4J+)<JO#p~BEL8Q^C(
zY$$NF$<11g)d%WSs&^kREljcb7)%?hADylT<(y4Y_p0Q;7DxRL7`U{hPgube&9_hO
z<nI;*$uJPDv{(9-!62n(ts%#=Y3QLO^L`2<Ddfw8p(U79mE%Q>E*;m0RDXj<%JLH*
zU+^QX>g$vm)s1i@EzjJ^c}DEEkrig7hmzx5=capWJ=fhBYOj-HucB{3&NzYErHWIk
z7sYDN>FEZ7GXV66J9+;n6usxqJt52+A>+~M7y-U8!4$Q8_}wi2E8(=QZ$e4S=CCE1
z5*rZMz<>{3*LJgL8F_U%*_P;K`Xytn?(0yS!@F_Qxc9=ooMTy=Hnui>OmtqYT2+rj
zB`m(KE#tJZmChs{OvOV|=<y!jFaQ@0{DFs)!2n|26R(x`_?>q%GMC1m3h=mVuw_p%
zUs^o7F%%hOMaF477X!IxFM?V35o}mHT&>woo_sLwLy&!(O5K`Rn?-Lmb3n#u8Z(NW
zP?OaE?B+>^ygAb;C&(l&kocxq+qp3qm>T7~7OIwXa+!BC9n`HFgDSaau%!VWS~<{?
zTHj4FhFcl&rD*s!ZiE?%+I!#v6u7OVKulSfonn3>Pcy{(;SU@lD)gPeL1Q`vNr%XL
v?3A%iKyQiOb7WQbXPm?TANt?aIJgn*0hI}Yl2&g&Qvel34F#0E#mD~w<|e(T

literal 0
HcmV?d00001

diff --git a/selfdrive/frogpilot/assets/other_images/gas_pedal.png b/selfdrive/frogpilot/assets/other_images/gas_pedal.png
new file mode 100644
index 0000000000000000000000000000000000000000..754a0bbf7226b1a596bbca2153e3da047abcce98
GIT binary patch
literal 11278
zcmYLPV|3p^v;HNGZQHih*mly`cEiTD(b!I7yN!*;Z0vt*+`R9-=iCpwJ70G2?3^?E
z>`tVzq7)(=9vlDwh%(aRs-LUx=Xi#J`kZ4pr6oQWFjrM6QQ+4U!7%`k05akt>YfJY
zzOdPP8b3iE>6IPLpl(WqIT=2g@U!~Hgb+#+R9_Sf5f#`GGMEqr5np!4gURyUh$0vz
zoKR;cH#c?3+?QnBMfnsMh#d;yBqW)Rd70W~w<W(NEyEJJrj3WiZVmnMnhPJl-dC6k
zSCHW0OCE@S>#0Rd*tA&=Y`YBDPQ!08H)T0*H^EekrL7;8CcC~oB}Yj<pzr#?2At>t
z1dZL7)F0F;qv;FV`XI=FGK85jsbk468{4<X|8jgfW`&ujj`4$Nr{gph;bzRo=sBVu
zl)(C&IC~67J*F6DVg>c*S6PIY#HoPTYzG<_yki|%Zn3U(QO3|7s4`oM!v14CSdCDJ
zp~M<+@f@9O2P;r!ns`y5L-sspziyY>rxfv^1Jlue+=$|~J7N*=eu%-+Ww)vsQeS3U
zlx&<hFI{Hi#y;Q!S#IOhAxVaZ#Ty$^DayS&q6t<w#h}Q|;PU_aY_#|2gsJ}I8K9D-
zJ)s59k5jA<4C5(u;Y)FSar;B2HHBxzp~yYp!%L&&T{<hwJ<ti(LAp7v^MyTnKDNz6
z!Pdwk&_R38g7gTg3_sttFknbAEM0-TpmJt%W|Lm{ujJZ%tm`ua#KvXWwCD_?VqR!I
zzE1~OhjAjkB_c;AndRB>e!d-#-dIuQkZXsEYpK9Bmhag1EgZ@M3J5Q<JaIlYll^}Y
z@?j3uh4aOa{Xd1v^OpZH`l&Tma0A$=8%b@1LXc1-Ux*>kk`&b_$Rho({arUPA8ujp
z`&*aAzKI<-atPh|&yZ$fT|20>qdjasrO(~IbGZ%?9tv`WvpgFppiCpqPw+;}{$^Le
zppO5D>_0X~bJ#JBrP@S{&i-^go7NI>;uA;JRL+{fpO78SW?7$6Wjh4?iUh~w$9;GE
zFWh22wSWq~y%P7-f6nR8KQ?#~ZXRE(AcwPKsG~56U)h{9R#DlT4{qdNedp+kfj$Jl
z?OmxNS{)()9&Gys*iQ1vFtCh&6lz*z0+UI5c4>as6G(~>av_0(wayjY+5-9n0Twu*
zge@5Y00%CC1TY}mc0soyc%BXA2Q}IT1ON|aBm^`8!t{VA(1!%Hu)zj{+G##6DopEt
z)3^!4z>t8AYFC6c%7DWTlfopu27L)g2I{Z@Rr3i%u;Ifb00lfi1mHmg1OX>FpiP!3
zL^dc6)Bp%exnG061T+J67(fF1`cr5Ci&5|Kk5(LPEi{{UN;SLn$8(onL(gBAhI$Y%
z@AU$g)8KusPyS-oEHzw&J4&y0UjR*@FBYi71*S$_Z=0Yj1+t3(CI~$M1oVAC2IK+4
z{(kf{(c<%vgc6?Izz;M)C<A+|%>%!N55ov-+e*_#C?&PH7b4)Fi;x=A(PK6?@N3%d
z@xDu%yN?Mva4t_|N(tz5Y@EBb1ui8GVE?|Bx(E+jb~F$_8v>VK0YIX2)<y~J?<KMs
zW>+tGz(=~)Jx6Sz`b=V$^Yl9$V3(brZT*}vTS14>r}hUMY}@dL8d!)=0q3)sTx+o0
za|HUX**Gpalu^FGUmA_&$dt{)p!CCmX9PlkNlSw#`cO}m=^^UAcv92_00<}~V6e0#
zE>e}(y|Dt(jncu81M7(>-%C{Sh_2q*e8k_ufbAZ`CTmE-7klskscR|L=EEr*d@E^T
zY6KlD=&a*_d5gPNS>a%a)aAFt^+#wC$!*(}VuE!Z_*X7buD8%I_U!=q*jy-g8jOQY
z9HoBYsg}SY21bn2F9H15KE5iuad@7Ps)dRBS6#;9=eTLN8Ej5Mf@k{8-b8~e6e7x)
ztqBWgyQ}_kNfaU}s)_UU1C7JO17dc7c3q{kmY(NJqvcBu;8eGqu>cHM&emP;SEn9v
zrD9TpePO+U+zhdGP0uT|w{qdsg`{EG^!FsWxgnJlm@MRM#L-Xub4Acg@86RC)`534
zQlNFvzHVst3cg|k$6KpwW4W5?Y$RF50x6!hKb-pnLUniii>#`$J^YEt8SArQN}P*L
z{%-E|ZZ)ivE$Zy=Wc^Ywkj80H(`3K8=dYntDrLaj@2Fi%5ssN+RhX{w?2Xm7=go67
ziaRuHP*{pds_|qgwM(}xX+&{6;c&Ogm#T3d=z@|{N8@F^jn-0vt)-fMDlXnHDnk<V
z+e+o{#r{GlXl!*VLENJEHPR_r<-wkQ63e3x<(L!bx`ZXoIS`8n#mWQ==t}J4(S2vO
zjOEta7j*YuEW<hac6})17OQBF;WW`)qw>(;8qAqpdsQI-$=3bn>d52c8#qxmoVZBu
z`}dWid-mk`6xsaUUVknh$=9Ty78=#)YSNE8d~gVfs$)nfWsO4Nqi|-aM{acVjYag{
z5T<2+@PJNge7h9jPxsDj^_LGU$Q;AEb30;JCY_zCxgRl0Hu=IPj{{DxSyCzk^ylY3
z*JaFZlezY?`P}BdJ0A!Dal#vySctDjt!w6buIgkcUa5)OtSne0cFDh5LE=Ch8dl;C
z<Jt4Kmq;=L*jtGwZ4QoZMf;n7grG^=tjXf(%Q|a`a=14N8I16c-O$!;O6#9NH}nX=
z!@>8)#!?f?nJdbpW*u_=#f1SC5U1_8iEU2dTJVfjLt2^o_o6?e!`>=v<HnJ3`Mpp9
zwTdzI^vJgwPJdq#n<p(UX|3Z{hwX2(u^>aN@Fa=XgY~LI_Jdbo)|jopd_@epia<YX
zY{N}Am1=Cc)C_ii2r-V7e$=5T$Q2=9h$!gG^gdg>Q@AgpS2Xc~d)ZE5y8I!-arx_E
z*c$H6GkeZ`J|xB_7D<(yFbYG0w%3_E7RhundSO$tRr-RUSVjk$;tiH*j7*@BDGsQJ
z5R;849h`-JFgj|Q(~K@-5ooChimN)PxBI(4*$|=H=i~TIEaUL8`O(YVkTj5_AyGPt
zpOcA7G5e@YF@sQ)O(8g+HXuJGAXN2PQBu!d#Mbu#_kfH<tfM@pDPudw6{}V4h9PL>
zATO;6qtKcZx#QCc&t?gv8vz9!fCJ6FfUOwNw?4yma-p|bEs5E_H6NMie6c`7;lGs?
z29f{Z!1cTa34=nqcF=CImg$8wHj(oEwT9!!>bDOM@uC1Of3DwG*T1dirqp0=u<J}B
z)u1Dz6KZNkRdI1=^+oY<9V<RRDzT~hVnQuuvTB8zhGX5qp<HOfM$?pmP7B3hP<GzK
z=-A38q*{98mdD1kD*zK~p)G^wbH06i>lmJskfw}b{X=osNyEVk?H`%x1oZ($jw?1d
zdZsm;vh~aw*tV9A(i+{*cA0I`oxo16722Uv8IEB^0z7%Y+ATOcCbVHIHQE3j7t@}#
z4o0eYe6b>qX4&94FKZm7SlD2-EJV+(jg7+5W6cH8_P;pzerAT?L*kTL`K7Q^L5gUs
z=>)Lr4TDOV6PYavq)Awky)9)XJB0D3M<q`oc6J1axE5MB0sL*En|FL*1()nTFKy{N
zt{jrzr@-x^6%$R}r*OYBpZ_kWT+p;u98Puj7s}PW&`vZKTK%!w?E-00LD!=G>gM+P
zuT>!-A&O9e=kgB^M=)%;-Uw*IPM~fE8ja$eA==|wkCM$Q4jLqAnB3ermmL?ixWDpx
z4cfn1q(Y9f+??k)c%K<F0ZT?%>8{Ot(}(C5#))Kao=sruo#tHK>`u92KSxT+pAONN
zv6Sa%AmvYf_ciGqowo9oGBz5_&AaG?+@1?g+>Ly<M6R2&6_^tj8i)xhe(7;#k7?ET
z&R@NkSR?#pLg!DHm5z!SQ=J(&cdjLsw5$qxyucIR_<hKg71dHWx1sUrxBC4CclZ<!
zMSJl?l!I{9@H}r)if&S)?5u1v)5*0iXAtG7`Yt9N<7Q$m%)LK&UwgxVeVFqDVU>6o
zl1XSJZ7e!^#mH`LgDNp|Z9P9p%kw)j3)kt{%{a0+QY`UDxG#cJ!@mi%1@nJjmh3f}
zP1V1+VKC#UL~=b=tQKR6#`$13xJ!jsQ$$>KmnFyFXBffk?Ho~PLkVv1*XkOP{ruS(
zPajdJQlQ0iJt*ibJw|Li8k**ISz1$xI`nx9Y(q9RS+~S6*&iav(;Hdg=bsT_FByF7
z>EAPzqQOxIy5Zy84gEESt08hgm~lU>mB5p(Iqk|r)8w~HYdr0kRxA6Dtvp3s88WZ;
zFjzP1eG80w^Tphqs(FZreSY-P+}B?pNZ=1>2{_T7H$iG>HLdR9pFh0M^jmE$eVBbQ
zFz8AiXVAMu|E6J2vH%cTd&#uqPE4nu5mjTil<223sX;Ja@AV+8q4#&oOu0}iul?*<
zSlj$MEUK+Ry=>J-7t1{q&JOMOIKk3Ii`Ae??J>!+mW6f!uW6&PH`B~#&%8DuVw75*
zcQ78TkTa}WINj*lJPhuq;}Cb|`$q9H&O&s$7jFmQ^cQksd%b3SB%r1n7e+LhvXT@#
z0Afe@ai;Hhi-7c>J!^hOvZTnE??)8Ju8ro`290Ght$cbs!(1RB+8p*gFgdqVvz<|1
z8SB<;N1f*V(l{Dp+G`;N51L3im|QC<M!=_S-W$+5DZ87|SL}7kMGXw6aY`6r4Vc?W
ziy-0LbOT9b{=is313fxd3k7=FtKlQ6Je<?xmX^q<420)xtPOXg<f#?7Kp>9pQ6gkE
zZ_Z%3FdCFjB7CD%lqwoC+&j&bC*%h!JbczL(jid4ZMm`wg8zCy9Kpe0^0#z0g_a~y
zPM-Wd-tjuINoSt51y8Ew_a%$bJ3pKVa^X|(JE_t`6bV?<j&O3Bw^%*3cO4lV9d#J9
zFWn{DW2DMf%?48P9}VuMlL2G<>9y@yJD&E)x=5b0-XCJnh=VutrY}B{Nxf$!q&Zcn
zw!jAyC94qWS(`(FnPbl35>bZg6G>F$wh3niF?gRW?@Xk{Ny^84EMv-Or45&S&IR&t
z?!~|2d2pNCOz~xeO=M+4`T3mtl=HEt;)OLj+bJfl51S|tf(f-J_Lsk`+NArvw!xw9
z{G1ZAb;rsA&5k6=o9r}w%PRs5dp{JWxgW`R)MDW*@hK$F)(+Sw8Z7V?_|<D1U2cA*
z-N$W-A`RhDEzwzBcKIy9rNMHI=M9<@Cs7Dt9j;tz(>Y%*0|d~m8OG;NY{sF~QG}~h
zJ>NUtqRb=YA2vX7$v~ppjA>m+3@?8tpH**cAr8HSe36hZr-&5mE4LSZ*Lswh0=K8)
zGgj?4<uN}uES*SfVF*<;YTjAuWPD;8@l2(^FiqKq@W(!(hbLDK1VWm<MKBdjG$!UN
znhIBOCfI*UFT0qqIr?>(kPtkX3~Jm?MS|tb-jI4Tv*TXtNezn-Y}=I_z<Kj<;n%xn
z<q{;#qjZ@PZGz%%`s~sU8{IwSO><X&^g)6;0*3TzbQQf@{Hx|zU6PL@17o$diNp%a
zz-@y=-WuUekxIob7{0F6SFFBPA@Z#*Ix7tq4^<pGgYVq)Pe=0TVw)y~%-V<t+C+Q&
z-L4;FS@ce4M=w1i&c^m|^T4AVvVq|7D_zYml4gcbAK^WdSW9!?e0ryBq{1l-Tc-1?
z%=}C-sab><Vy_a1G2w`kTTi1yEPfqTswyJsr8d)Yt}=3SmVEFctHn_|*BX|i9@q9r
zQr##jVGgFqJML@UfH;-fjK+5r9sYLMu=NKfZuVTP1r}n?>;1}gONfa33(zhy<@^8%
z4+-J~uGlJW<9eqgSC`eliI0Ddp!c_l-t7-1j)Bn!db7Xk#~Wz6yD+F-Ci1$%X4yH>
zQ^r3gxq?bZk9i1eNjFu3KlFqcyeq?F0*YTc_9+^h%ynmL&a^oMTORr%9>Zh4wCP1S
z^;_|w+W|c3?Ebouq%SWAyms(Y&Iu_k`H`a&s_=@#jyw8xp3ULezp2`5b(mPIzKz|d
zNg%%-s~;?pBMi6*J^aL{&=HOgfM{P%a?xKH)Fuc_I=x<ibL*12+rk)2lKwl`qLv%I
z1Yup5c19O-E`%m4v=;urn=0Vdd@g#}D>ow_La@Y`aMlx-6xY>^0+QyhCW~C4*q^9J
zV+b?t$=Rr(n$r);!X#;Vn329-dUHp?6fOB4rwbWIErK2*!2QdDf$5yU&^}tv*g#tk
z@IAdIopr~#-0I$x;@8XM%^{3vNObH?19w<Vr%D{5OiS#e=7NG5E4GfVPW6;x`OJ^1
z{8BDF?JdHMrizss>zO1PS#qT=H{BCVCstfU64TD_4g<W76;#BMH9UlYPn~vlONZvu
zClD}kS=fW;gg2a!r&3$IPJA~Tr0c^eyQeVH!RTy8)DutaI;KoWU=R_q;B~w?5|OkN
zg`qJJppF?ipu$_XVj(vUqL<UZs5YB7joLjU4uUJYH3K5qW_x$!!TljhO51I21ic^1
zdCmPn`=uilX)HwzNdvZE3zHO%Tx^)^pJ85cDACk6iW*vLUn7I%{j=;Uu5{f<4+7{g
z@uG-y`10)v&P9Wd@FfqFkmnwbYmZJ|)~PX9UPzg(yYoa!xz;9YojV(dxp5GyJH_2%
z^0ZW_ho}5|0)JX*O?vB~epcFOX@F9;6r+e?Huvz@LI!%jR1Bnty>l{_+^nxJ!>lXW
zTWpV}w2X^vo-|`Yk*&k(Kej&;^tw)VW?LiMV&UtUvKqfU7b^*Z^Ha|bqc{($`(8k6
zFijgO>RsV~YI`OH*|@&?#~<y1oNlEi1W%Xr8Hp>3uv-{i35rCS{r4R2DM)LyQ%DGB
z3?d6nzVAgTK))Spn<{QXDT%JS8~Q9Cf1A@hqqNCS&Z{HXY`gxGVa2+ui*(DrFJ*>K
zAj|Mo6@6wFBAUyyi&dB_|F`!>Hma6Z`g*QER-g3Qw#t1$fBTViqKHPZ)=$aKuYTX>
zaiPa2Y|4f<<8Fl>JM;@?P!ja9n993nlobZ}>4=HP=v`gtQ_Z=!;yY`#3o0XGewcGJ
z4{1Ny2LyU<$9c_89Zb5)(k4|s?4x3f{p8N`cF<lPrqw7kQowE>`T^3fwMnYk=OsLj
z0>kv|%*#d<334Cd*l39*y(|nPv)^0mREqXx=n-onM<przMW2Os9<AA_XC|zMDbXFo
z1PtfJ5aZ!{UpVP{^6o;b6nK)r!X9ics<eLSEeHhZ+JL0B)@uy`;O|~p3osz~&?VKB
zkXy((@dw(Fcj(QEpcTx#Bt8ho8R;jh7cMo5u!2(={eD%~3&@h-EcD*NU|gNs=ihy3
zP*u+kD9w{~GDqH$B%7U^eo~7}z>LiE1ClE!U%e)?`M_<0{R0fpqq1dT6&rYZD#68P
zZ!PCl*@1L^OvHvZR;R1HJx=whVqu!PW&H?ne9A0*R{q!dxi2R8!{pr$h4;&!jGLB{
z?DOpQ%9rQmZ_r}L{`gHnEVhDnAlX7L6N<+QM!z|`SqwR4+Zh!BW5P^F+T}@|!?=<{
z`#*XMG<Ygwmx-45$k&~w<!x5?QyPKeCoi(p;v3wx#TiD)78@mt`Q(9@4&Nud6Cu;Q
z9Bs#ZQ5Q4RdauQj#A%;*wV+pmS&5|^kvw6~2HM_My>N$vBq$g5D@y*9^r7NlzC_!N
zvU;^1$?g<C6m1Z(w{g_2Uq;v7Iy1+-1bkT+ve*Rktz<AB#ZnvdzRQj&YUb#>(zx5c
z-Qnis63KhGZzgJ7DSN^q>#Akk_?jId=tDzw2cwvPK~K7<g`xCu3eH1fwuw`$_bsi1
zwozh%oc3YVJ0PxL>H``Oq8d-7g7I=RwB+XY(RjEUMNbkpFp?@Xc|GD6`(2<82h|4|
zWCjU))Yuss;yn0hR-oD+(tC(x=_SHizqMyMbx)5Wp5SF6T6fpkikx!o5aXLlK>~|)
zCQg7QO>5ySmt|@UEym`l75#i))--fNx_LzqiAncfrh2XgQm}=+5zRaCa(#|r=igFB
zR+N(U=gR{~57E;z;+w<t#?zlHlW;YZ#;XkSK_g3Xsmy!5u{;=UdtIRz6S;KL&3YJj
zC?KA%)o5?Nq4ZxV3Uf~Gwi>LNB&NHBBXonR+RC&lxT;szFZG_#fi~rqBE+3QAMQ1p
z&V}Wr1sa_p&>b46{3m&tAtS#9o+qgLRJ?J?cCRKKta6pS*}V;8C>V|)Oni6n%w>$g
zwqwv|ZmGVd8qd`xIrqGG$yP~f7+Brzt#q;`mh0W}UT-y@-}#9#TbVwn$$S;33Aa9d
zRVulXVAU{>hNRcaE1huC|Kd$*Q4~{TkWcQ5V%HU@Q!zxa<~A*15wy6+Xoul_YLflw
z5sw!_d0)a&O+$(i$^QGgY+5~swe0sfQ3WQ}AxbgdvSJVMC>#>Pq?G8KrOx0mXncx%
zbk&1)A>v&-_ar=YOpS>;&d9JF0jS$TUv|SfBRYO`6p!^*7K?}Rt-s}vW@qGqH1)fQ
zZr694EH5t0h_Ecd8DH??gT0}<SQHrEVrQMvc;jJtnQ}pOQ#n;Dq?|uB?=V0k=A8|z
zFX@<c>cs?0OtQ;b6I!u_D!RatqY}|c^nkxtlQMZvVt{658Vm=8{OLOG@V$g4`!1vV
zM%x+x3GF5-P_29gf^)ts^h&1Q?S2)^1X2Cu5tFx!6Y?jS=wUI*E%>FGm?4GOS*vf}
z+V&&U6gffij;{>+vOnP{{j;b8^(k@C?hegK!l~7h5*{Dc6gLwv27t2aclesMFvaJ{
zfgd)@9=@&NEf~G<mOGxOw42TZ+NKv;QA-Z3{RxLtoEGqpax~mjGNb5aL#9eZP}{{(
zw1IqJIu1BwE0YLMwc5mgb?qxRv*Qf7<PCdNMS_X1*E?73oS`^^nXbB6UXP;xu%yV9
zTVY7pci7U|f7}LT6!`|)xXUSaNzMO03ih!{TBP7+#pw1&1dvCjG6OOWOBb5VMTBp9
zh|YOu(!E?@z?dysE&HL+GF(Q#JR9JU!6ZObOR1cB(k9->7i`yHTd8`VeiGd6ys^dD
zHz~*+x!jzp{sxYG+>C$J1}DjJuG+C8n_`xMP3Bp?ZT9CbL$)?ZCj>6rq4Fm=YA@kv
zy+kg*m6^V22r<Ql72m)|?{b~;RwmZpK@s8-e4(ow%4Xo6Cw9uYw=*Ej@2fs>Mh{V^
zy4~+CPQlu%QqTCL0}g&}vq^Uf7#XsfNM-cF<Gw`ph+jsF648}<#zdL(VbU9Iizl?6
ze{WtiR}QA1eEN!nf0KT1oN~5D)$hV{((Asfm+4d<^{D)q+WO=e=K(O|t1-{mGXAj@
z@|H-3WvQ#XTIGMMML-Z--GvtExu$AgPlENctFjTUAmZuvly1U*e(U6dvd(%QbS*$<
z?j7{!t_L7=W^@iTL9@;9TU&J+bdpbclu-za6G`71_Q>R@Ja;u0?1%*e;?O-+S@VNJ
zQa*AOu=tEV^Aq;2>lN#RIT8}?xU2f@;viSUm5I0Y%JX$1!Znqqr->R0HbHPQMLV+4
zVU>Rhvi}ttXp<88iLUSAMp@%}P`>Dgh}iR~LE9uS$n$Vwt>z8X{wQXJZ#BY&0*WO5
zc+r~Z8_Sa~r^I4%dedC!w7u&)F8^r?fw;Q8Uu_BQRntseXR>Po9(8CitTqgdW+-?7
zt(m0p3`2~n@Alv&K2upEU6898M&i8lzV%xAwUIwCm1Zwsf8tv=EXe#+oq2r${zwbx
zGkq$AOtxlJ&axYROLx>Or;M_A?8hE1rimw_X*bQ4W}uWh^mA&jm|WYZ3Z&Sq5hTgF
zDU9lr&y5Kh{U_h=Zik*ndmkv;i^HFE?BnInbKj}L4Rig%YeX5P&q#i8uz#}vRReua
zI2^H%?^kUUhgksoyPu!=GP&uw#Fw1;-0$0uut8buF+9F6q}q~HGSIt#=u#`29NDn>
zHep<N!TMlWRJ(0RRtz-J@<c+2x8Jw!$+}R9$cI)Vs#A*<jT7M4aU=Fzh|Zh0A{Ul|
zWY4=U-g0(B(MoyI5Fy`(KFhh&{R@|!at(Lz%}lW8uycM=*p-X6uMM3tM{&-B$B^BW
zS7nR&gb|`(r-!hoP-q&hMv3I1kqvIHxaVly$CLuon9Tx*VYd?>9>zPH|9MNcGpTjY
zivMb-(Igq8I?4(H@zd-n>AN&IrL@j*mu^o{v=G8T&Jr`K{mm+;)ZCG|l9W+h5=AM?
zxOE=xX$$Y}FS!nN-fkcy!z6U%;a=h~85ZLP(K=8~U)@4FqxMQdU|h2qjdFnCNTRDq
z8Z-quZQwkJ7<B764ujWFs7HsTq+<W^c&r5-+B)BltC<VoSS_RTm5usXZyA?FwrfP0
zIiFk;2klMo{uj0ms$x?j>{brGHJ)9i#n9I;1|v>a+?$c5_XsE~WX2Q<#xGVBl(kN)
z=>6cV7QWE~b`D%RdLkOZso704(VoNg1xN2H?+%L<rp;o@Z+&o)teolJ)yT&~cXwtH
zI5%B+7zp=uB7zY;H?XOb0>HuK6N21>EU`GCf0j%pje?pL4l`8+o%x_1jQ#L8e+#6-
z(?+y;)Ffn-TEwI?cfux&N#hy>V9fOG_o_|&F1%ecgO5)0+ZPZ!FiVEf6fKtN{LW`C
z1t&g_e&o5{Mp-*C%BwYZVLP3gfmuU&erjGDhx?kJJHVfWYdi6#d7L4U<0uEU*;+wX
z<qKt6$;a89JrDn75DwGxyydm0JM-khu(4k%*q$n!vnq&d1IhcdBBqBv!C`6}Ik_a~
zV|x4M84$C~{%UAiJVvuE6{zJ_ltTL80)A+x^<m-MpX-9yp7bh7Mc5(pZ6?GVefV?_
zl!JQ>jT^E-_jf7QzvMWhO7R9VX+eLpJf%8JASRbEMKdT58RgIx<J#SehV-7~l;iV@
ztUeTl{C!V){BW<_olX}O(IzqlWcQOT4umSWui{dM5`O)N*#iLhuK)A`Sbf&=i!o$a
zzKEiJ{8o3X$+gV(nbfcBf-Za(Wv?7Q{nJz{)+@#go?B0fb2h(@dW3}hiVb-Z69(R6
z(B~x73dhRad6klq#66FBW@RY#7{}LWU7pbtKmD+XD^SaLVrxbvfe`8q&Ci}_5=n;;
zk-yE3D9$}E8$?k8%c?qw5lQuS87yoJ{etJ2#QHOWNp0C{6fJ$_xY;%mH-)@_XprCL
zatjDp!;F~L@tDMQYj*!vGiJ^$B#;aH_EIJ0B>MYE6~b#Zy8Ns^<vt(a7+_3?(m5=p
zB#JVTU9`U)Ifeni-%A)CU1mwLk8K{Dw=x}`Y<oCRSQh5<2tGy&5GY)i3^?JI(JjN)
znG?p3Nk2coUYiDWk~Ty?V_-g+tM-4(OBF3tu=OR~3SX+UupIlBC*aLS^fGI#a-5`#
zXe+6t@42IA)Ax{gCz9D>3uO?$Ll_zLWdBLN(y}7ClI%NNvuv<V&D`3quG}8~Y3(G8
zt=!|&MiefKqED=47Uo8GcIjT^4r3pGzT{;PK&ij-ojQMG=KqGAc)QuF$cCPqL`NSh
zaHpF02o+w@<*oX+l$n=C+WW$QQ3o7M;dZ9TQ;KZcAUYK8S0ZFYnDf$?aW+k<tOMcE
zJ#BxQ`@27y+a)GMeAP=~FD1G6UIa?U^0IR>WLU|;3fy*LCF;$`sq@bM&+;usn}(xl
zsH7wp9nQG6`pc!fQ5LtBK9Zrn*88$Z5KgyrHxZyh_t^s%?m&Z!9jpN23to4+r_OTZ
z!ggunCrE25)eGioY1T9<jm)F(O2d)=c;5^$lkj+NxQGwC&1$H6`KaTl$&o?3C8#2_
zT-hFW4^mSb?)7<O^4>ew1WU3czqglXkFJIdO^wBWcd)4qOB=b_t!3EmHxxenJ-EMR
z4-Gp}rBYWwsF~7?@?&K_DZ8cA`j!-EJ7xNpP3Nlr>M`;Cub3~E^nMUCHFu;HdDzs(
z_lju=$j=+W0+mX|Rz1XMf$7J0zH4!R<pQ)&>6#`paN><hJjGJW8P<4$BCEYdT|T2e
zk8z)Ds>^aH^*Zu@+I!z>8~a8j_aaKG&cZvn^;R@!11j%wReq&^y>9i<9vQ(Fr@+=(
z-j4mIf&I&1kbe$w`d`LY*ph>iJrd7(w`I<}-A!fMh#555)yUTi)4*ws+}w5XQ^der
z&hZxJ3M}nZZ%}zgl{hPs^NJVH+?Ry3zK+9bnPL?*9ACQ^4W)E0Ci2&3jc-Um>aBF>
z@u<FkplH}?BtS2RGjZKQsNuqwA1f=rK`~o4P~UUfs*>AvPtFHsdyi0b&jcR3tALeG
zg=Q8i6*DH#U%ViAd%az}iP2uGS#WrMSdp^Fc>>&7X9g^rg$vZf`J3Q{O=GfkPT0oR
z5K8rTR%f1I&ikaN+^@5Le}~lY&#wC76m;oT{x%=T*L#@?Lt1o?Z2pzDZ$)}!UY-#L
z^f}lyz!eGJrp9UO(>2%(BGkia=kDs^&o$GtI8cvz7(STPYJ_c$sRR4U9@{P#`vt|$
z)Kr+A;L@R!6Y6|B1b4C<A@t`ZvJ9q=Lq&FLkiS9zyz!Y3RRz>ecWGW2{pAO(vAx#^
z$|r|kMj&N<DeJ^SHqBsHR`rBPz~sWv(ZJA1b68jC-ny3^=e@%K6?s?Ft2a|Jf;8P5
z2SXiUSpJ_dKa8V){@r$5YP^q27TbpdIVQ6Y%Wj8n_7P^S(MW#QcoAvWg4$P7N=ga!
z*Qk{Z>a;Kw(@dKWp>~S6xd-tZ${rC=OS8Q$RI!KR@cK0fybs!(T1=Gfa)l9Le-=v_
z)o;H!d7Zg%a*#(7e%5VK3Y;1hZvA_1c*8eNOrx2bL`3W8vGqSuGO<7sh<&4L6r`zf
zaA{69eO&<hFqRe=D_XFz;L)d%Zg+QwU7X_T)D#p4?GO&K4E62$p1Qo7B)(F(^2~T`
zqJc{*9H<F#rNMrEdd}dW8OdV*J~Si|E+(AWF~NGa*6=G9BAJS5_<<ArNNeAAV)Uo7
z1W%r4mGz6nIE*O%5sx*K&{UkDFAD{M;xoSbUw9)@?bEolHdl@G-jsGFK)+Rri-4Sp
z)5MM8pk2WMt*PH={(MbWw!1<l$&>Ut-1qGjlx#ptmye;sX?P+G6QP|SaN$Hjkj_}A
zlbNNiFymsn$X~Xb!8*48weiksaRhAxPH!H&<tL18vRmGDl)R0bKyz8%{<BFF&Qvi;
zCVyo?obo0-eJ7i;&tX3V0S9W*%Hj7Ue0kJ|Ak0e6jcCLoRAH$HT7%utB`*a*8`K2n
zx52r#1+LcW1`5cX2-Pq-%dp{!;>j@ya!+5V#ei~0asVa_P2K>RQkOTbAXB~O^VF(6
z&Iu0#hA<egev}0nQ=Y%>?UdKt5NLdDzzUiO6B6ZMj1y`L*HDg2gzz-^O@dV*9Ip$F
zQK;!{-@_2Op88FoyC3%fw5*KEltG#Q=aV-n$I%)`mMniw?>u4OvO(nYbJyUSJpO67
zPJlI-GZ*1np7F7$fE8tgCxTn`(lHhjLs5wQ2HUEzBD<o4KZM=LH@UTl@5aHrQ{r1b
zs$|b0-ql)LGRat?|5eB1WXTvni`cmwXYPUQMZ3~P=QaOM00?EZhAgJeUs(m=GJDY0
zD31GlVSSLG*WW+zSO|Ro{zS1U!vA`7^Tq-k#U}6G_PjP*<21Wzrq+ae4m+BJT6K-d
zZSI|fiG1W_{b<^7h<GF$r%gr}E;RJpP#vJT!vpd~5c<Eaoq+NA5j5)0NC&@k>Y*PI
zPJwNOU2xS<t#s7s=6uC_+jyUyxKJrkcEUK6-c<q@)<w?Wokf%oAfnvE%7wtfL0<RI
zjcr)r;59mt|H$;u#g8u`+wu-g-HF0Rj^78(_s`rk4s#M%b@LGRMh`-M$dHzU4^z!#
ztp{(8YqcgIy8SU>oEg@89hr9=Xy-00C#KcGM?U<b60bz0)-62jY}7W74qT!R2F@qA
z=(Vz#g3ef`&b{_nEQH>5m1v%BWs37u^#t<X&a1q{aHvFIb*iY39?x%XQt2=lokD`+
zd>r*mxtiM$OOSve?@fW!_x=EQ&(OyX_DeF4BJhW>?7a%=BS;5-6u^NI4Tcnr$a}))
zk8WqhC}&k*eD?}__NxwaQBwT${-4SEFhj}s{M`%|{C#Smu5iSU1{I0#pv@bs->pSk
zhQ$_%t$dK^+qt8eYEk`wD>d6XaS;|ulnW2ielM_11stj1X?61w4u=*f5>GFc(q8Bn
zk&ITu7EfYB!Bjc^IwLGufXYt;9k$i0p9uRibo)dkgh|BgYQe+vr*aRyIux#GDET}O
z)aPSGRZMh7c}By%@j3~wcFp9FaO-$g`8ZUqoU4#aGS<_*d`qGLCnm;L8x0ik^A9@Q
zit{N!CEEC{3x_dq!{shdlZbg58h9Ky4{zH4gPVai%7BNF1Wq_Gf|V^L6gC(eErhU6
zH(A|d%Zs*-9GnbA6^#ZaSVOv`yYJAUQn-=U!Bm$;ba#ArW%?a-wjxk?@5RWh?juF%
zFJ(C)_QZ0m8p8(J>C!DmSt=F{j#XlUHonIHF7$2GR(l+feG5qQP;5osybbv!%%D}6
znJ2gr&-r*$aJJ#GHIeSo-)n2*4M7MU*W+GI;%h22sWWe8p+e13Rp=h~vrox#qpU5@
z*1;Q+kUHT0iT<WQBLj}JYWm1a-1!CWFmMPS;~sl{E>$xyS7exV_pvStQa9cG;Nuqt
zWuaFIw~<s#pcph<nv)1LoPk>gjR%o8bT<q0o;QPj&;oVh%M}R6lv@oOaN!{8RF?VE
zjTcPf_p=*s-^f5GEA96xO+I#?R4fs@2C7?E9w9uAaSMWGrs!3?Kc2lJ4>tsAJMM>3
z%b3;uQItVLw+^ibN!6BkV}I-s&rhsnNHQ+6Kq@&-Js7JTv0qY=`TH@3zs#x^U2!f0
zEbSo(20c}F$K0S<(S`Gv5G^)tppF`mTmn9j%|fK9O~EbSKO1}j83{%4U!q1q{{!Qr
B#QXpN

literal 0
HcmV?d00001

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 37942a86b..32f44b86e 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -17,8 +17,21 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   main_layout->setMargin(UI_BORDER_SIZE);
   main_layout->setSpacing(0);
 
+  QHBoxLayout *buttons_layout = new QHBoxLayout();
+  buttons_layout->setSpacing(0);
+
   experimental_btn = new ExperimentalButton(this);
-  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
+  buttons_layout->addWidget(experimental_btn);
+
+  QVBoxLayout *top_right_layout = new QVBoxLayout();
+  top_right_layout->setSpacing(0);
+  top_right_layout->addLayout(buttons_layout);
+
+  pedal_icons = new PedalIcons(this);
+  top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight);
+
+  main_layout->addLayout(top_right_layout, 0);
+  main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight);
 
   map_settings_btn = new MapSettingsButton(this);
   main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
@@ -642,6 +655,12 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
     bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft) | Qt::AlignBottom);
   }
 
+  bool enablePedalIcons = scene.pedals_on_ui;
+  pedal_icons->setVisible(enablePedalIcons);
+  if (enablePedalIcons) {
+    pedal_icons->updateState(scene);
+  }
+
   reverseCruise = scene.reverse_cruise;
 
   speedLimitController = scene.speed_limit_controller;
@@ -755,6 +774,56 @@ void Compass::paintEvent(QPaintEvent *event) {
   }
 }
 
+PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent) {
+  setFixedSize(btn_size, btn_size);
+
+  brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size));
+  gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size));
+}
+
+void PedalIcons::updateState(const UIScene &scene) {
+  acceleration = scene.acceleration;
+  brakeLightOn = scene.brake_lights_on;
+  dynamicPedals = scene.dynamic_pedals_on_ui;
+  standstill = scene.standstill;
+  staticPedals = scene.static_pedals_on_ui;
+
+  accelerating = acceleration > 0.25f;
+  decelerating = acceleration < -0.25f;
+
+  if (accelerating || decelerating) {
+    update();
+  }
+}
+
+void PedalIcons::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  int totalWidth = 2 * img_size;
+  int startX = (width() - totalWidth) / 2;
+
+  int brakeX = startX + img_size / 2;
+  int gasX = startX + img_size;
+
+  float brakeOpacity = 1.0f;
+  float gasOpacity = 1.0f;
+
+  if (dynamicPedals) {
+    brakeOpacity = standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
+    gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
+  } else if (staticPedals) {
+    brakeOpacity = standstill || brakeLightOn || acceleration < -0.5f ? 1.0f : 0.25f;
+    gasOpacity = !standstill && acceleration > 0 ? 1.0f : 0.25f;
+  }
+
+  p.setOpacity(brakeOpacity);
+  p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img);
+
+  p.setOpacity(gasOpacity);
+  p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img);
+}
+
 void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
   p.save();
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index f8d28b9c4..d36789a61 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -29,6 +29,29 @@ private:
   QPixmap staticElements;
 };
 
+class PedalIcons : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit PedalIcons(QWidget *parent = 0);
+  void updateState(const UIScene &scene);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap brake_pedal_img;
+  QPixmap gas_pedal_img;
+
+  bool accelerating;
+  bool brakeLightOn;
+  bool decelerating;
+  bool dynamicPedals;
+  bool standstill;
+  bool staticPedals;
+
+  float acceleration;
+};
+
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
 
@@ -76,6 +99,7 @@ private:
 
   Compass *compass_img;
   DistanceButton *distance_btn;
+  PedalIcons *pedal_icons;
 
   QHBoxLayout *bottom_layout;
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 8f5c4e8e4..d9e9a11c5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -222,6 +222,8 @@ static void update_state(UIState *s) {
     scene.blind_spot_left = carState.getLeftBlindspot();
     scene.blind_spot_right = carState.getRightBlindspot();
     scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK;
+    scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
+    scene.standstill = carState.getStandstill() && !scene.reverse;
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -240,6 +242,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotCarState")) {
     auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState();
+    scene.brake_lights_on = frogpilotCarState.getBrakeLights();
     scene.traffic_mode_active = frogpilotCarState.getTrafficModeActive();
   }
   if (sm.updated("frogpilotPlan")) {
@@ -314,6 +317,9 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.adjacent_path_metrics = scene.adjacent_path && params.getBool("AdjacentPathMetrics");
   scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath");
   scene.compass = custom_onroad_ui && params.getBool("Compass");
+  scene.pedals_on_ui = custom_onroad_ui && params.getBool("PedalsOnUI");
+  scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI");
+  scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
   scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 22a4043d0..778f49305 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -129,10 +129,12 @@ typedef struct UIScene {
   bool blind_spot_left;
   bool blind_spot_path;
   bool blind_spot_right;
+  bool brake_lights_on;
   bool compass;
   bool conditional_experimental;
   bool disable_smoothing_mtsc;
   bool disable_smoothing_vtsc;
+  bool dynamic_pedals_on_ui;
   bool enabled;
   bool experimental_mode;
   bool experimental_mode_via_screen;
@@ -142,6 +144,8 @@ typedef struct UIScene {
   bool online;
   bool onroad_distance_button;
   bool parked;
+  bool pedals_on_ui;
+  bool reverse;
   bool reverse_cruise;
   bool reverse_cruise_ui;
   bool right_hand_drive;
@@ -152,6 +156,8 @@ typedef struct UIScene {
   bool speed_limit_changed;
   bool speed_limit_controller;
   bool speed_limit_overridden;
+  bool standstill;
+  bool static_pedals_on_ui;
   bool tethering_enabled;
   bool traffic_mode;
   bool traffic_mode_active;