Force Stop Icon replaces banner

cereal/custom.capnp

@@ -194,6 +194,7 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
   weatherId @34 :Int16;
   disableThrottle @35 :Bool;
   trackingLead @36 :Bool;
+  stopSignConfirmed @37 :Bool;
 }
 
 struct StarPilotRadarState @0xb86e6369214c01c8 {

selfdrive/selfdrived/events.py

@@ -438,17 +438,13 @@ def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMas
     return Alert(
       "Holding the car at a stop",
       "Press the gas pedal or 'Resume' button to override",
-      StarPilotAlertStatus.starpilot, AlertSize.mid,
+      StarPilotAlertStatus.starpilot, AlertSize.small,
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.)
 
-  model_length = sm["starpilotPlan"].forcingStopLength
-  model_length_msg = f"{model_length:.1f} meters" if metric else f"{model_length * CV.METER_TO_FOOT:.1f} feet"
-
   return Alert(
-    f"Forcing the car to stop in {model_length_msg}",
-    "Press the gas pedal or 'Resume' button to override",
-    StarPilotAlertStatus.starpilot, AlertSize.mid,
-    Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.)
+    "", "",
+    StarPilotAlertStatus.starpilot, AlertSize.none,
+    Priority.MID, VisualAlert.none, AudibleAlert.none, .1)
 
 
 def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, starpilot_toggles: SimpleNamespace) -> Alert:

starpilot/controls/starpilot_planner.py

@@ -190,6 +190,7 @@ class StarPilotPlanner:
 
     starpilotPlan.forcingStop = self.starpilot_vcruise.forcing_stop
     starpilotPlan.forcingStopLength = self.starpilot_vcruise.tracked_model_length
+    starpilotPlan.stopSignConfirmed = self.starpilot_vcruise.stop_sign_confirmed
 
     starpilotPlan.starpilotEvents = self.starpilot_events.events.to_msg()
 

starpilot/ui/qt/onroad/starpilot_annotated_camera.cc

@@ -17,6 +17,8 @@ StarPilotAnnotatedCameraWidget::StarPilotAnnotatedCameraWidget(QWidget *parent)
   nextMapsIcon = loadPixmap("../../starpilot/assets/other_images/next_maps_icon.png", {btn_size / 2, btn_size / 2}).scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation);
   pausedIcon = loadPixmap("../../starpilot/assets/other_images/paused_icon.png", {widget_size, widget_size});
   speedIcon = loadPixmap("../../starpilot/assets/other_images/speed_icon.png", {widget_size, widget_size});
+  forceStopDashImg = loadPixmap("../../starpilot/assets/other_images/force_stop_dash.png", {btn_size, btn_size});
+  forceStopImg = loadPixmap("../../starpilot/assets/other_images/force_stop.png", {btn_size, btn_size});
   stopSignImg = loadPixmap("../../starpilot/assets/other_images/stop_sign.png", {btn_size, btn_size});
   turnIcon = loadPixmap("../../starpilot/assets/other_images/turn_icon.png", {widget_size, widget_size});
   visionIcon = loadPixmap("../../starpilot/assets/other_images/speed_icon.png", {btn_size / 2, btn_size / 2}).scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation);
@@ -200,6 +202,9 @@ void StarPilotAnnotatedCameraWidget::updateState(const UIState &s, const StarPil
   desiredFollowDistance = starpilotPlan.getDesiredFollowDistance();
   experimentalMode = selfdriveState.getExperimentalMode();
   forceCoast = starpilotCarState.getForceCoast();
+  forcingStop = starpilotPlan.getForcingStop();
+  forcingStopLength = starpilotPlan.getForcingStopLength();
+  stopSignConfirmed = starpilotPlan.getStopSignConfirmed();
   laneWidthLeft = starpilotPlan.getLaneWidthLeft();
   laneWidthRight = starpilotPlan.getLaneWidthRight();
   lateralPaused = starpilotCarState.getPauseLateral();
@@ -313,7 +318,9 @@ void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState
     compassPosition.setY(0);
   }
 
-  if (!speedLimitChanged && !(signalStyle == "static" && blinkerLeft) && cachedCscStatus) {
+  if (forcingStop) {
+    paintForceStop(p);
+  } else if (!speedLimitChanged && !(signalStyle == "static" && blinkerLeft) && cachedCscStatus) {
     if (cscTraining) {
       paintCurveSpeedControlTraining(p);
     } else if (isCruiseSet && cscControllingSpeed) {
@@ -1131,6 +1138,31 @@ void StarPilotAnnotatedCameraWidget::paintStandstillTimer(QPainter &p) {
   p.restore();
 }
 
+void StarPilotAnnotatedCameraWidget::paintForceStop(QPainter &p) {
+  p.save();
+
+  QRect forceStopRect(QPoint(setSpeedRect.right() + UI_BORDER_SIZE, setSpeedRect.top()), QSize(defaultSize.width() * 1.25, defaultSize.width() * 1.25));
+
+  p.setOpacity(1.0);
+
+  QRect cscRect(forceStopRect.topLeft() + QPoint(0, forceStopRect.height() + 10), QSize(forceStopRect.width(), 100));
+  p.setBrush(redColor(166));
+  p.setFont(InterFont(45, QFont::Bold));
+  p.setPen(QPen(QColor(255, 150, 150), 10));
+  p.drawRoundedRect(cscRect, 24, 24);
+  p.setPen(QPen(whiteColor(), 6));
+  p.drawText(cscRect.adjusted(20, 0, 0, 0), Qt::AlignVCenter | Qt::AlignLeft,
+             QString::number(std::nearbyint(forcingStopLength * distanceConversion)) + leadDistanceUnit);
+
+  QPixmap &activeIcon = stopSignConfirmed ? forceStopDashImg : forceStopImg;
+  QSize imgSize = activeIcon.size();
+  QPoint imgPoint(forceStopRect.x() + (forceStopRect.width()  - imgSize.width())  / 2,
+                  forceStopRect.y() + (forceStopRect.height() - imgSize.height()) / 2);
+  p.drawPixmap(imgPoint, activeIcon);
+
+  p.restore();
+}
+
 void StarPilotAnnotatedCameraWidget::paintStoppingPoint(QPainter &p) {
   p.save();
 

starpilot/ui/qt/onroad/starpilot_annotated_camera.h

@@ -72,6 +72,7 @@ private:
   void paintSpeedLimit(QPainter &p);
   void paintSpeedLimitSources(QPainter &p);
   void paintStandstillTimer(QPainter &p);
+  void paintForceStop(QPainter &p);
   void paintStoppingPoint(QPainter &p);
   void paintTurnSignals(QPainter &p);
   void paintWeather(QPainter &p);
@@ -83,6 +84,8 @@ private:
   bool blinkerRight;
   bool brakeLights;
   bool cscControllingSpeed;
+  bool forcingStop;
+  bool stopSignConfirmed;
   bool cscTraining;
   bool experimentalMode;
   bool forceCoast;
@@ -131,6 +134,7 @@ private:
 
   float accelerationEgo;
   float cscSpeed;
+  float forcingStopLength;
   float dashboardSpeedLimit;
   float distanceConversion;
   float laneWidthLeft;
@@ -170,6 +174,8 @@ private:
   QPixmap nextMapsIcon;
   QPixmap pausedIcon;
   QPixmap speedIcon;
+  QPixmap forceStopDashImg;
+  QPixmap forceStopImg;
   QPixmap stopSignImg;
   QPixmap turnIcon;
   QPixmap visionIcon;