Controls - Driving Personalities - Onroad Distance Button

Simulate a distance button via the onroad UI to control personalities, 'Experimental Mode', and 'Traffic Mode'.

selfdrive/controls/controlsd.py

@@ -190,6 +190,7 @@ class Controls:
 
     self.always_on_lateral_active = False
     self.drive_added = False
+    self.onroad_distance_pressed = False
     self.openpilot_crashed_triggered = False
     self.update_toggles = False
 
@@ -671,12 +672,13 @@ class Controls:
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
-      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) or self.onroad_distance_pressed:
         menu_open = self.display_timer > 0 or not self.sm['frogpilotCarState'].hasMenu
-        if menu_open:
+        if not self.params_memory.get_bool("OnroadDistanceButtonPressed") and menu_open:
           self.personality = (self.personality - 1) % 3
           self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
         self.display_timer = 350
+      self.onroad_distance_pressed = self.params_memory.get_bool("OnroadDistanceButtonPressed")
 
     self.display_timer -= 1
 

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -286,6 +286,8 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   int x = rightHandDM ? width() - offset : offset;
   if (rightHandDM && map_settings_btn->isEnabled()) {
     x -= 250;
+  } else if (onroadDistanceButton) {
+    x += 250;
   }
   offset += showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar ? 25 : 0;
   int y = height() - offset;
@@ -465,6 +467,9 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
 void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
   bottom_layout = new QHBoxLayout();
 
+  distance_btn = new DistanceButton(this);
+  bottom_layout->addWidget(distance_btn, 0, Qt::AlignBottom | Qt::AlignLeft);
+
   QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
   bottom_layout->addItem(spacer);
 
@@ -514,6 +519,14 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
     map_settings_btn_bottom->setVisible(!hideBottomIcons);
     bottom_layout->setAlignment(map_settings_btn_bottom, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
   }
+
+  onroadDistanceButton = scene.onroad_distance_button;
+  bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons;
+  distance_btn->setVisible(enableDistanceButton);
+  if (enableDistanceButton) {
+    distance_btn->updateState(scene);
+    bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft) | Qt::AlignBottom);
+  }
 }
 
 void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -50,11 +50,14 @@ private:
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
 
+  DistanceButton *distance_btn;
+
   QHBoxLayout *bottom_layout;
 
   bool alwaysOnLateralActive;
   bool experimentalMode;
   bool mapOpen;
+  bool onroadDistanceButton;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;
 

selfdrive/ui/qt/onroad/buttons.cc

@@ -65,3 +65,58 @@ void MapSettingsButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
 }
+
+// FrogPilot buttons
+
+// DistanceButton
+DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent) {
+  setFixedSize(btn_size * 1.5, btn_size * 1.5);
+
+  connect(this, &QPushButton::pressed, this, &DistanceButton::buttonPressed);
+  connect(this, &QPushButton::released, this, &DistanceButton::buttonReleased);
+}
+
+void DistanceButton::buttonPressed() {
+  paramsMemory.putBool("OnroadDistanceButtonPressed", true);
+}
+
+void DistanceButton::buttonReleased() {
+  paramsMemory.putBool("OnroadDistanceButtonPressed", false);
+}
+
+void DistanceButton::updateState(const UIScene &scene) {
+  bool stateChanged = (trafficModeActive != scene.traffic_mode_active) ||
+                      (personality != static_cast<int>(scene.personality) + 1 && !trafficModeActive);
+
+  if (stateChanged) {
+    personality = static_cast<int>(scene.personality) + 1;
+    trafficModeActive = scene.traffic_mode_active;
+
+    int profile = trafficModeActive ? 0 : personality;
+    std::tie(profileImage, profileText) = (scene.use_kaofui_icons ? profileDataKaofui : profileData)[profile];
+
+    transitionTimer.restart();
+    update();
+  } else if (transitionTimer.isValid()) {
+    update();
+  } else {
+    return;
+  }
+}
+
+void DistanceButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
+
+  int elapsed = transitionTimer.elapsed();
+  qreal textOpacity = qBound(0.0, 1.0 - ((elapsed - 3000.0) / 1000.0), 1.0);
+  qreal imageOpacity = 1.0 - textOpacity;
+
+  p.setOpacity(textOpacity);
+  p.setFont(InterFont(40, QFont::Bold));
+  p.setPen(Qt::white);
+  QRect textRect(-25, 0, width(), height() + btn_size / 2);
+  p.drawText(textRect, Qt::AlignCenter, profileText);
+
+  drawIcon(p, QPoint((btn_size / 2) * 1.25, btn_size), profileImage, Qt::transparent, imageOpacity);
+}

selfdrive/ui/qt/onroad/buttons.h

@@ -42,3 +42,42 @@ private:
 };
 
 void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
+
+// FrogPilot buttons
+class DistanceButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit DistanceButton(QWidget *parent = 0);
+  void updateState(const UIScene &scene);
+
+private:
+  void buttonPressed();
+  void buttonReleased();
+  void paintEvent(QPaintEvent *event) override;
+
+  bool trafficModeActive;
+
+  int personality;
+
+  QElapsedTimer transitionTimer;
+
+  QPixmap profileImage;
+  QString profileText;
+
+  Params paramsMemory{"/dev/shm/params"};
+
+  const QVector<std::pair<QPixmap, QString>> profileData = {
+    {QPixmap("../frogpilot/assets/other_images/traffic.png"), "Traffic"},
+    {QPixmap("../frogpilot/assets/other_images/aggressive.png"), "Aggressive"},
+    {QPixmap("../frogpilot/assets/other_images/standard.png"), "Standard"},
+    {QPixmap("../frogpilot/assets/other_images/relaxed.png"), "Relaxed"}
+  };
+
+  const QVector<std::pair<QPixmap, QString>> profileDataKaofui = {
+    {QPixmap("../frogpilot/assets/other_images/traffic_kaofui.png"), "Traffic"},
+    {QPixmap("../frogpilot/assets/other_images/aggressive_kaofui.png"), "Aggressive"},
+    {QPixmap("../frogpilot/assets/other_images/standard_kaofui.png"), "Standard"},
+    {QPixmap("../frogpilot/assets/other_images/relaxed_kaofui.png"), "Relaxed"}
+  };
+};

selfdrive/ui/ui.cc

@@ -278,6 +278,10 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.conditional_speed_lead = scene.conditional_experimental ? params.getInt("CESpeedLead") : 0;
   scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
 
+  bool driving_personalities = scene.longitudinal_control && params.getBool("DrivingPersonalities");
+  scene.onroad_distance_button = driving_personalities && params.getBool("OnroadDistanceButton");
+  scene.use_kaofui_icons = scene.onroad_distance_button && params.getBool("KaofuiIcons");
+
   scene.tethering_config = params.getInt("TetheringEnabled");
   if (scene.tethering_config == 2) {
     WifiManager(s).setTetheringEnabled(true);

selfdrive/ui/ui.h

@@ -124,11 +124,13 @@ typedef struct UIScene {
   bool experimental_mode;
   bool map_open;
   bool online;
+  bool onroad_distance_button;
   bool parked;
   bool right_hand_drive;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool tethering_enabled;
+  bool use_kaofui_icons;
 
   int alert_size;
   int conditional_speed;