Increase max speed faster on short presses

Added toggle to increase the value of the max speed by 5 instead of 1 for Toyota/Lexus and a custom set value for other makes.

common/params.cc

@@ -245,6 +245,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentHolidayTheme", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomColors", PERSISTENT},
+    {"CustomCruise", PERSISTENT},
+    {"CustomCruiseLong", PERSISTENT},
     {"CustomIcons", PERSISTENT},
     {"CustomPaths", PERSISTENT},
     {"CustomPersonalities", PERSISTENT},
@@ -309,6 +311,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
     {"RelaxedJerk", PERSISTENT},
+    {"ReverseCruise", PERSISTENT},
+    {"ReverseCruiseUI", PERSISTENT},
     {"RoadEdgesWidth", PERSISTENT},
     {"ShowCPU", PERSISTENT},
     {"ShowGPU", PERSISTENT},

selfdrive/car/toyota/toyotacan.py

@@ -43,7 +43,7 @@ def create_accel_command(packer, accel, accel_raw, pcm_cancel, standstill_req, l
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,
-    "ALLOW_LONG_PRESS": 1,
+    "ALLOW_LONG_PRESS": 2 if frogpilot_variables.reverse_cruise_increase else 1,
     "ACC_CUT_IN": fcw_alert,  # only shown when ACC enabled
     "ACCEL_CMD_ALT": accel_raw,  # raw accel command, pcm uses this to calculate a compensatory force
   }

selfdrive/controls/controlsd.py

@@ -472,7 +472,7 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
+    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.frogpilot_variables)
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -973,6 +973,9 @@ class Controls:
     self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3
 
     quality_of_life = self.params.get_bool("QOLControls")
+    self.frogpilot_variables.custom_cruise_increase = self.params.get_int("CustomCruise") if quality_of_life else 1
+    self.frogpilot_variables.custom_cruise_increase_long = self.params.get_int("CustomCruiseLong") if quality_of_life else 5
+    self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)

selfdrive/controls/lib/drive_helpers.py

@@ -53,13 +53,13 @@ class VCruiseHelper:
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
 
-  def update_v_cruise(self, CS, enabled, is_metric):
+  def update_v_cruise(self, CS, enabled, is_metric, frogpilot_variables):
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
       if not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric, frogpilot_variables)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -69,7 +69,7 @@ class VCruiseHelper:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
-  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
+  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, frogpilot_variables):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition
     if not enabled:
@@ -105,8 +105,9 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
-    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
+    v_cruise_delta_interval = frogpilot_variables.custom_cruise_increase_long if long_press else frogpilot_variables.custom_cruise_increase
+    v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
+    if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:
       self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]

selfdrive/frogpilot/ui/qt/offroad/control_settings.cc

@@ -43,7 +43,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"AggressiveAcceleration", tr("Increase Acceleration Behind Faster Lead"), tr("Increase aggressiveness when following a faster lead."), ""},
 
     {"QOLControls", tr("Quality of Life"), tr("Miscellaneous quality of life changes to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"},
+    {"CustomCruise", tr("Cruise Increase Interval"), tr("Set a custom interval to increase the max set speed by."), ""},
+    {"CustomCruiseLong", tr("Cruise Increase Interval (Long Press)"), tr("Set a custom interval to increase the max set speed by when holding down the cruise increase button."), ""},
     {"DisableOnroadUploads", tr("Disable Onroad Uploads"), tr("Prevent uploads to comma connect unless you're offroad and connected to Wi-Fi."), ""},
+    {"ReverseCruise", tr("Reverse Cruise Increase"), tr("Reverses the 'long press' functionality logic to increase the max set speed by 5 instead of 1. Useful to increase the max speed quickly."), ""},
   };
 
   for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -227,10 +230,25 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         for (auto &[key, toggle] : toggles) {
           std::set<QString> modifiedQolKeys = qolKeys;
 
+          if (!hasPCMCruise) {
+            modifiedQolKeys.erase("ReverseCruise");
+          } else {
+            modifiedQolKeys.erase("CustomCruise");
+            modifiedQolKeys.erase("CustomCruiseLong");
+          }
+
           toggle->setVisible(modifiedQolKeys.find(key.c_str()) != modifiedQolKeys.end());
         }
       });
       toggle = qolToggle;
+    } else if (param == "CustomCruise") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, std::map<int, QString>(), this, false, tr(" mph"));
+    } else if (param == "CustomCruiseLong") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, std::map<int, QString>(), this, false, tr(" mph"));
+    } else if (param == "ReverseCruise") {
+      std::vector<QString> reverseCruiseToggles{"ReverseCruiseUI"};
+      std::vector<QString> reverseCruiseNames{tr("Control Via UI")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, reverseCruiseToggles, reverseCruiseNames);
 
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);
@@ -369,17 +387,27 @@ void FrogPilotControlsPanel::updateMetric() {
 
     params.putIntNonBlocking("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
     params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
+    params.putIntNonBlocking("CustomCruise", std::nearbyint(params.getInt("CustomCruise") * speedConversion));
+    params.putIntNonBlocking("CustomCruiseLong", std::nearbyint(params.getInt("CustomCruiseLong") * speedConversion));
     params.putIntNonBlocking("PauseAOLOnBrake", std::nearbyint(params.getInt("PauseAOLOnBrake") * speedConversion));
   }
 
+  FrogPilotParamValueControl *customCruiseToggle = static_cast<FrogPilotParamValueControl*>(toggles["CustomCruise"]);
+  FrogPilotParamValueControl *customCruiseLongToggle = static_cast<FrogPilotParamValueControl*>(toggles["CustomCruiseLong"]);
   FrogPilotParamValueControl *pauseAOLOnBrakeToggle = static_cast<FrogPilotParamValueControl*>(toggles["PauseAOLOnBrake"]);
 
   if (isMetric) {
+    customCruiseToggle->updateControl(1, 150, tr(" kph"));
+    customCruiseLongToggle->updateControl(1, 150, tr(" kph"));
     pauseAOLOnBrakeToggle->updateControl(0, 99, tr(" kph"));
   } else {
+    customCruiseToggle->updateControl(1, 99, tr(" mph"));
+    customCruiseLongToggle->updateControl(1, 99, tr(" mph"));
     pauseAOLOnBrakeToggle->updateControl(0, 99, tr(" mph"));
   }
 
+  customCruiseToggle->refresh();
+  customCruiseLongToggle->refresh();
   pauseAOLOnBrakeToggle->refresh();
 }
 

selfdrive/frogpilot/ui/qt/offroad/control_settings.h

@@ -39,7 +39,7 @@ private:
   std::set<QString> lateralTuneKeys = {"ForceAutoTune"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "DecelerationProfile"};
   std::set<QString> mtscKeys = {};
-  std::set<QString> qolKeys = {"DisableOnroadUploads"};
+  std::set<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "DisableOnroadUploads", "ReverseCruise"};
   std::set<QString> speedLimitControllerKeys = {};
   std::set<QString> speedLimitControllerControlsKeys = {};
   std::set<QString> speedLimitControllerQOLKeys = {};

selfdrive/ui/qt/onroad.cc

@@ -103,15 +103,33 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   // FrogPilot clickable widgets
   bool widgetClicked = false;
 
+  // Change cruise control increments button
+  QRect maxSpeedRect(7, 25, 225, 225);
+  bool isMaxSpeedClicked = maxSpeedRect.contains(e->pos()) && scene.reverse_cruise_ui;
+
   // Hide speed button
   QRect hideSpeedRect(rect().center().x() - 175, 50, 350, 350);
   bool isSpeedClicked = hideSpeedRect.contains(e->pos()) && scene.hide_speed_ui;
 
-  if (isSpeedClicked) {
-    bool currentHideSpeed = scene.hide_speed;
+  if (isMaxSpeedClicked || isSpeedClicked) {
+    if (isMaxSpeedClicked) {
+      std::thread([this]() {
+        bool currentReverseCruise = scene.reverse_cruise;
 
-    uiState()->scene.hide_speed = !currentHideSpeed;
-    params.putBoolNonBlocking("HideSpeed", !currentHideSpeed);
+        uiState()->scene.reverse_cruise = !currentReverseCruise;
+        params.putBoolNonBlocking("ReverseCruise", !currentReverseCruise);
+
+        paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+        paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+      }).detach();
+
+    } else if (isSpeedClicked) {
+      bool currentHideSpeed = scene.hide_speed;
+
+      uiState()->scene.hide_speed = !currentHideSpeed;
+      params.putBoolNonBlocking("HideSpeed", !currentHideSpeed);
+    }
 
     widgetClicked = true;
   // If the click wasn't for anything specific, change the value of "ExperimentalMode"
@@ -508,7 +526,11 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   int bottom_radius = has_eu_speed_limit ? 100 : 32;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-  p.setPen(QPen(whiteColor(75), 6));
+  if (scene.reverse_cruise) {
+    p.setPen(QPen(blueColor(), 6));
+  } else {
+    p.setPen(QPen(whiteColor(75), 6));
+  }
   p.setBrush(blackColor(166));
   drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 

selfdrive/ui/qt/onroad.h

@@ -161,6 +161,8 @@ private:
 
   QTimer *animationTimer;
 
+  inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); }
+
 protected:
   void paintGL() override;
   void initializeGL() override;

selfdrive/ui/ui.cc

@@ -331,6 +331,8 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
 
   bool quality_of_life_controls = params.getBool("QOLControls");
+  scene.reverse_cruise = quality_of_life_controls && params.getBool("ReverseCruise");
+  scene.reverse_cruise_ui = scene.reverse_cruise && params.getBool("ReverseCruiseUI");
 
   bool quality_of_life_visuals = params.getBool("QOLVisuals");
   scene.big_map = quality_of_life_visuals && params.getBool("BigMap");

selfdrive/ui/ui.h

@@ -197,6 +197,8 @@ typedef struct UIScene {
   bool map_open;
   bool model_ui;
   bool reverse;
+  bool reverse_cruise;
+  bool reverse_cruise_ui;
   bool right_hand_drive;
   bool show_aol_status_bar;
   bool show_cem_status_bar;