Controls - Experimental Mode Activation - Double Tap the UI

Enable/disable 'Experimental Mode' by double tapping the onroad UI within a 0.5 second time frame.

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -1,5 +1,6 @@
 #include "selfdrive/ui/qt/onroad/onroad_home.h"
 
+#include <QApplication>
 #include <QPainter>
 #include <QStackedLayout>
 
@@ -48,6 +49,13 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
   QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
+
+  // FrogPilot variables
+  QObject::connect(&clickTimer, &QTimer::timeout, this, [this]() {
+    clickTimer.stop();
+    QMouseEvent *event = new QMouseEvent(QEvent::MouseButtonPress, timeoutPoint, Qt::LeftButton, Qt::LeftButton, Qt::NoModifier);
+    QApplication::postEvent(this, event);
+  });
 }
 
 void OnroadWindow::updateState(const UIState &s) {
@@ -89,6 +97,23 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   // FrogPilot clickable widgets
   QPoint pos = e->pos();
 
+  if (scene.experimental_mode_via_screen && pos != timeoutPoint) {
+    if (clickTimer.isActive()) {
+      clickTimer.stop();
+
+      if (scene.conditional_experimental) {
+        int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 6) ? 0 : (scene.conditional_status >= 7 ? 5 : 6);
+        paramsMemory.putIntNonBlocking("CEStatus", override_value);
+      } else {
+        params.putBoolNonBlocking("ExperimentalMode", !params.getBool("ExperimentalMode"));
+      }
+
+    } else {
+      clickTimer.start(500);
+    }
+    return;
+  }
+
 #ifdef ENABLE_MAPS
   if (map != nullptr) {
     // Switch between map and sidebar when using navigate on openpilot

selfdrive/ui/qt/onroad/onroad_home.h

@@ -25,6 +25,10 @@ private:
   QHBoxLayout* split;
 
   // FrogPilot variables
+  QPoint timeoutPoint = QPoint(420, 69);
+
+  QTimer clickTimer;
+
   Params params;
   Params paramsMemory{"/dev/shm/params"};
 

selfdrive/ui/ui.cc

@@ -282,6 +282,8 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.onroad_distance_button = driving_personalities && params.getBool("OnroadDistanceButton");
   scene.use_kaofui_icons = scene.onroad_distance_button && params.getBool("KaofuiIcons");
 
+  scene.experimental_mode_via_screen = scene.longitudinal_control && params.getBool("ExperimentalModeActivation") && params.getBool("ExperimentalModeViaTap");
+
   scene.tethering_config = params.getInt("TetheringEnabled");
   if (scene.tethering_config == 2) {
     WifiManager(s).setTetheringEnabled(true);

selfdrive/ui/ui.h

@@ -124,6 +124,7 @@ typedef struct UIScene {
   bool conditional_experimental;
   bool enabled;
   bool experimental_mode;
+  bool experimental_mode_via_screen;
   bool map_open;
   bool online;
   bool onroad_distance_button;