From 39611ad6dd04da5b1f559dca54b59e1af2388bdd Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Pause Acceleration/Braking

---
 frogpilot/controls/frogpilot_card.py                 | 4 ++++
 frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc | 3 ++-
 frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h  | 1 +
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/frogpilot/controls/frogpilot_card.py b/frogpilot/controls/frogpilot_card.py
index 91716cae7..b3cad5f7c 100644
--- a/frogpilot/controls/frogpilot_card.py
+++ b/frogpilot/controls/frogpilot_card.py
@@ -20,6 +20,7 @@ class FrogPilotCard:
     self.decel_pressed = False
     self.distancePressed_previously = False
     self.force_coast = False
+    self.pause_longitudinal = False
 
     self.gap_counter = 0
 
@@ -36,6 +37,8 @@ class FrogPilotCard:
       self.handle_experimental_mode(sm, frogpilot_toggles)
     elif sm["carControl"].longActive and getattr(frogpilot_toggles, f"force_coast_via_{key}"):
       self.force_coast = not self.force_coast
+    elif sm["carControl"].longActive and getattr(frogpilot_toggles, f"pause_longitudinal_via_{key}"):
+      self.pause_longitudinal = not self.pause_longitudinal
 
   def handle_experimental_mode(self, sm, frogpilot_toggles):
     if frogpilot_toggles.conditional_experimental_mode:
@@ -100,5 +103,6 @@ class FrogPilotCard:
     frogpilotCarState.distanceLongPressed = self.very_long_press_threshold > self.gap_counter >= self.long_press_threshold
     frogpilotCarState.distanceVeryLongPressed = self.gap_counter >= self.very_long_press_threshold
     frogpilotCarState.forceCoast = self.force_coast
+    frogpilotCarState.pauseLongitudinal = self.pause_longitudinal
 
     return frogpilotCarState
diff --git a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
index d99f39aff..917fa298e 100644
--- a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
+++ b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
@@ -159,6 +159,7 @@ void FrogPilotAnnotatedCameraWidget::updateState(const UIState &s, const FrogPil
   forceCoast = frogpilotCarState.getForceCoast();
   laneWidthLeft = frogpilotPlan.getLaneWidthLeft();
   laneWidthRight = frogpilotPlan.getLaneWidthRight();
+  longitudinalPaused = frogpilotCarState.getPauseLongitudinal();
   redLight = frogpilotPlan.getRedLight();
   roadCurvature = frogpilotPlan.getRoadCurvature();
   roadName = QString::fromStdString(params_memory.get("RoadName"));
@@ -230,7 +231,7 @@ void FrogPilotAnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p, UIState
     }
   }
 
-  if (!hideBottomIcons && (forceCoast)) {
+  if (!hideBottomIcons && (forceCoast || longitudinalPaused)) {
     paintLongitudinalPaused(p);
   }
 
diff --git a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
index 115db0b68..ff4a849d1 100644
--- a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
+++ b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
@@ -79,6 +79,7 @@ private:
   bool cscTraining;
   bool experimentalMode;
   bool forceCoast;
+  bool longitudinalPaused;
   bool redLight;
 
   int animationFrameIndex;