From 14eacb8b3baddc15d8d1a91dbd3bf01a862b3812 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Wed, 10 Apr 2024 18:41:16 -0700
Subject: [PATCH] Acceleration path

Added toggle to always show the vehicle's acceleration/deceleration via the onroad UI path.
---
 common/params.cc                                     | 1 +
 selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc | 4 ++--
 selfdrive/ui/qt/onroad.cc                            | 2 +-
 selfdrive/ui/ui.cc                                   | 1 +
 selfdrive/ui/ui.h                                    | 1 +
 5 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 7824a4583..80d534864 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -209,6 +209,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
 
     // FrogPilot parameters
+    {"AccelerationPath", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomPaths", PERSISTENT},
     {"CustomUI", PERSISTENT},
diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc
index 14d70b3a5..b396896f2 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc
@@ -37,8 +37,8 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
       });
       toggle = customUIToggle;
     } else if (param == "CustomPaths") {
-      std::vector<QString> pathToggles{};
-      std::vector<QString> pathToggleNames{};
+      std::vector<QString> pathToggles{"AccelerationPath"};
+      std::vector<QString> pathToggleNames{tr("Acceleration")};
       toggle = new FrogPilotParamToggleControl(param, title, desc, icon, pathToggles, pathToggleNames);
 
     } else if (param == "QOLVisuals") {
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 3d493548c..dd807f9ad 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -502,7 +502,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // paint path
   QLinearGradient bg(0, height(), 0, 0);
-  if (experimentalMode) {
+  if (experimentalMode || scene.acceleration_path) {
     // The first half of track_vertices are the points for the right side of the path
     // and the indices match the positions of accel from uiPlan
     const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 1f5f2b4dd..084282b57 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -252,6 +252,7 @@ void ui_update_frogpilot_params(UIState *s) {
 
   bool custom_onroad_ui = params.getBool("CustomUI");
   bool custom_paths = custom_onroad_ui && params.getBool("CustomPaths");
+  scene.acceleration_path = custom_paths && params.getBool("AccelerationPath");
 
   bool quality_of_life_controls = params.getBool("QOLControls");
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 776fd77d7..ead6da621 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -169,6 +169,7 @@ typedef struct UIScene {
   uint64_t started_frame;
 
   // FrogPilot variables
+  bool acceleration_path;
   bool enabled;
   bool experimental_mode;
   bool map_open;