Pedals on the onroad UI

Added toggle to show when the gas or brake pedals are being used on the onroad UI.

common/params.cc

@@ -345,6 +345,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PauseAOLOnBrake", PERSISTENT},
     {"PauseLateralOnSignal", PERSISTENT},
     {"PauseLateralSpeed", PERSISTENT},
+    {"PedalsOnUI", PERSISTENT},
     {"PreferredSchedule", PERSISTENT},
     {"PromptDistractedVolume", PERSISTENT},
     {"PromptVolume", PERSISTENT},

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

@@ -25,6 +25,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"FPSCounter", tr("FPS Counter"), tr("Display the 'Frames Per Second' (FPS) of your onroad UI for monitoring system performance."), ""},
     {"LeadInfo", tr("Lead Info and Logics"), tr("Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance."), ""},
     {"CustomPaths", tr("Paths"), tr("Show your projected acceleration on the driving path, detected adjacent lanes, or when a vehicle is detected in your blindspot."), ""},
+    {"PedalsOnUI", tr("Pedals Being Pressed"), tr("Display the brake and gas pedals on the onroad UI below the steering wheel icon."), ""},
     {"RoadNameUI", tr("Road Name"), tr("Display the current road's name at the bottom of the screen. Sourced from OpenStreetMap."), ""},
 
     {"CustomTheme", tr("Custom Themes"), tr("Enable the ability to use custom themes."), "../frogpilot/assets/wheel_images/frog.png"},

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

@@ -25,7 +25,7 @@ private:
 
   std::set<QString> alertVolumeControlKeys = {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"};
   std::set<QString> customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert"};
-  std::set<QString> customOnroadUIKeys = {"Compass", "CustomPaths", "DeveloperUI", "FPSCounter", "LeadInfo", "RoadNameUI"};
+  std::set<QString> customOnroadUIKeys = {"Compass", "CustomPaths", "DeveloperUI", "FPSCounter", "LeadInfo", "PedalsOnUI", "RoadNameUI"};
   std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "HolidayThemes"};
   std::set<QString> modelUIKeys = {"DynamicPathWidth", "HideLeadMarker", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
   std::set<QString> qolKeys = {"BigMap", "CameraView", "DriverCamera", "FullMap", "HideSpeed", "NumericalTemp"};

selfdrive/ui/qt/onroad.cc

@@ -430,8 +430,21 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   main_layout->setMargin(UI_BORDER_SIZE);
   main_layout->setSpacing(0);
 
+  QHBoxLayout *buttons_layout = new QHBoxLayout();
+  buttons_layout->setSpacing(0);
+
   experimental_btn = new ExperimentalButton(this);
-  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
+  buttons_layout->addWidget(experimental_btn);
+
+  QVBoxLayout *top_right_layout = new QVBoxLayout();
+  top_right_layout->setSpacing(0);
+  top_right_layout->addLayout(buttons_layout);
+
+  pedal_icons = new PedalIcons(this);
+  top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight);
+
+  main_layout->addLayout(top_right_layout, 0);
+  main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight);
 
   map_settings_btn = new MapSettingsButton(this);
   main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
@@ -1235,6 +1248,12 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
   }
 
+  bool enablePedalIcons = scene.pedals_on_ui && !bigMapOpen;
+  pedal_icons->setVisible(enablePedalIcons);
+  if (enablePedalIcons) {
+    pedal_icons->updateState();
+  }
+
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {
     map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
@@ -1512,6 +1531,44 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
   p.restore();
 }
 
+PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
+  setFixedSize(btn_size, btn_size);
+
+  brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size));
+  gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size));
+}
+
+void PedalIcons::updateState() {
+  acceleration = scene.acceleration;
+
+  accelerating = acceleration > 0.25;
+  decelerating = acceleration < -0.25;
+
+  if (accelerating || decelerating) {
+    update();
+  }
+}
+
+void PedalIcons::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  int totalWidth = 2 * img_size;
+  int startX = (width() - totalWidth) / 2;
+
+  int brakeX = startX + img_size / 2;
+  int gasX = startX + img_size;
+
+  float brakeOpacity = scene.standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
+  float gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
+
+  p.setOpacity(brakeOpacity);
+  p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img);
+
+  p.setOpacity(gasOpacity);
+  p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img);
+}
+
 void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.save();
 

selfdrive/ui/qt/onroad.h

@@ -120,6 +120,27 @@ private:
   QPixmap settings_img;
 };
 
+class PedalIcons : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit PedalIcons(QWidget *parent = 0);
+  void updateState();
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap brake_pedal_img;
+  QPixmap gas_pedal_img;
+
+  UIScene &scene;
+
+  bool accelerating;
+  bool decelerating;
+
+  float acceleration;
+};
+
 // container window for the NVG UI
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
@@ -171,6 +192,7 @@ private:
 
   Compass *compass_img;
   DistanceButton *distance_btn;
+  PedalIcons *pedal_icons;
 
   QHBoxLayout *bottom_layout;
 

selfdrive/ui/ui.cc

@@ -233,6 +233,7 @@ static void update_state(UIState *s) {
     scene.blind_spot_left = carState.getLeftBlindspot();
     scene.blind_spot_right = carState.getRightBlindspot();
     scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
+    scene.standstill = carState.getStandstill();
     scene.turn_signal_left = carState.getLeftBlinker();
     scene.turn_signal_right = carState.getRightBlinker();
   }
@@ -322,6 +323,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.compass = custom_onroad_ui && params.getBool("Compass");
   scene.fps_counter = custom_onroad_ui && params.getBool("FPSCounter");
   scene.lead_info = scene.longitudinal_control && custom_onroad_ui && params.getBool("LeadInfo");
+  scene.pedals_on_ui = custom_onroad_ui && params.getBool("PedalsOnUI");
   scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
   scene.show_jerk = scene.longitudinal_control && developer_ui && params.getBool("ShowJerk");
   scene.show_tuning = scene.has_auto_tune && developer_ui && !(params.getBool("LateralTune") && params.getBool("NNFF")) && params.getBool("ShowTuning");

selfdrive/ui/ui.h

@@ -207,6 +207,7 @@ typedef struct UIScene {
   bool numerical_temp;
   bool online;
   bool onroad_distance_button;
+  bool pedals_on_ui;
   bool reverse;
   bool reverse_cruise;
   bool reverse_cruise_ui;
@@ -216,6 +217,7 @@ typedef struct UIScene {
   bool show_cem_status_bar;
   bool show_jerk;
   bool show_tuning;
+  bool standstill;
   bool turn_signal_left;
   bool turn_signal_right;
   bool unlimited_road_ui_length;