Onroad distance button

Added toggle to simulate the distance button via an onroad UI button.

common/params.cc

@@ -298,6 +298,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HigherBitrate", PERSISTENT},
     {"HolidayThemes", PERSISTENT},
     {"IncreaseThermalLimits", PERSISTENT},
+    {"KaofuiIcons", PERSISTENT},
     {"LaneChangeTime", PERSISTENT},
     {"LaneDetectionWidth", PERSISTENT},
     {"LaneLinesWidth", PERSISTENT},
@@ -332,6 +333,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NumericalTemp", PERSISTENT},
     {"OfflineMode", PERSISTENT},
     {"OneLaneChange", PERSISTENT},
+    {"OnroadDistanceButton", PERSISTENT},
+    {"OnroadDistanceButtonPressed", PERSISTENT},
     {"PathEdgeWidth", PERSISTENT},
     {"PathWidth", PERSISTENT},
     {"PauseAOLOnBrake", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -190,6 +190,7 @@ class Controls:
     self.always_on_lateral_main = self.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain")
 
     self.holiday_theme_alerted = False
+    self.onroad_distance_pressed = False
     self.previously_enabled = False
 
     self.previous_lead_distance = 0
@@ -703,10 +704,11 @@ class Controls:
 
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
-      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        if not self.params_memory.get_bool("DistanceLongPressed"):
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) or self.onroad_distance_pressed:
+        if not (self.params_memory.get_bool("DistanceLongPressed") or self.params_memory.get_bool("OnroadDistanceButtonPressed")):
           self.personality = (self.personality - 1) % 3
           self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+      self.onroad_distance_pressed = self.params_memory.get_bool("OnroadDistanceButtonPressed")
 
     return CC, lac_log
 

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

@@ -103,6 +103,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"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."), ""},
+    {"OnroadDistanceButton", tr("Onroad Distance Button"), tr("Simulate a distance button via the onroad UI to control personalities, 'Experimental Mode', and 'Traffic Mode'."), ""},
     {"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."), ""},
   };
 
@@ -503,6 +504,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         for (auto &[key, toggle] : toggles) {
           std::set<QString> modifiedQolKeys = qolKeys;
 
+          if (!hasOpenpilotLongitudinal) {
+            modifiedQolKeys.erase("OnroadDistanceButton");
+          }
+
           if (!hasPCMCruise) {
             modifiedQolKeys.erase("ReverseCruise");
           } else {
@@ -518,6 +523,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       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 == "OnroadDistanceButton") {
+      std::vector<QString> onroadDistanceToggles{"KaofuiIcons"};
+      std::vector<QString> onroadDistanceToggleNames{tr("Kaofui's Icons")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, onroadDistanceToggles, onroadDistanceToggleNames);
     } else if (param == "ReverseCruise") {
       std::vector<QString> reverseCruiseToggles{"ReverseCruiseUI"};
       std::vector<QString> reverseCruiseNames{tr("Control Via UI")};

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

@@ -45,7 +45,7 @@ private:
   std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "NNFFLite"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "DecelerationProfile", "StoppingDistance"};
   std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck"};
-  std::set<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "DisableOnroadUploads", "ReverseCruise"};
+  std::set<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "DisableOnroadUploads", "OnroadDistanceButton", "ReverseCruise"};
   std::set<QString> speedLimitControllerKeys = {};
   std::set<QString> speedLimitControllerControlsKeys = {};
   std::set<QString> speedLimitControllerQOLKeys = {};

selfdrive/ui/qt/onroad.cc

@@ -854,6 +854,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   // base icon
   int offset = UI_BORDER_SIZE + btn_size / 2;
   int x = rightHandDM ? width() - offset : offset;
+  x += onroadDistanceButton ? 250 : 0;
   offset += showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar ? 25 : 0;
   int y = height() - offset;
   float opacity = dmActive ? 0.65 : 0.2;
@@ -1055,6 +1056,9 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
 void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
   bottom_layout = new QHBoxLayout();
 
+  distance_btn = new DistanceButton(this);
+  bottom_layout->addWidget(distance_btn);
+
   QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
   bottom_layout->addItem(spacer);
 
@@ -1154,6 +1158,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
   mapOpen = scene.map_open;
   bigMapOpen = mapOpen && scene.big_map;
 
+  onroadDistanceButton = scene.onroad_distance_button;
+
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
 
@@ -1220,6 +1226,13 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight));
   }
 
+  bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons;
+  distance_btn->setVisible(enableDistanceButton);
+  if (enableDistanceButton) {
+    distance_btn->updateState();
+    bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
+  }
+
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {
     map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
@@ -1333,6 +1346,69 @@ void Compass::paintEvent(QPaintEvent *event) {
   }
 }
 
+DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent), scene(uiState()->scene) {
+  setFixedSize(btn_size * 1.5, btn_size * 1.5);
+
+  profile_data = {
+    {QPixmap("../frogpilot/assets/other_images/aggressive.png"), "Aggressive"},
+    {QPixmap("../frogpilot/assets/other_images/standard.png"), "Standard"},
+    {QPixmap("../frogpilot/assets/other_images/relaxed.png"), "Relaxed"}
+  };
+
+  profile_data_kaofui = {
+    {QPixmap("../frogpilot/assets/other_images/aggressive_kaofui.png"), "Aggressive"},
+    {QPixmap("../frogpilot/assets/other_images/standard_kaofui.png"), "Standard"},
+    {QPixmap("../frogpilot/assets/other_images/relaxed_kaofui.png"), "Relaxed"}
+  };
+
+  transitionTimer.start();
+
+  connect(this, &QPushButton::pressed, this, &DistanceButton::buttonPressed);
+  connect(this, &QPushButton::released, this, &DistanceButton::buttonReleased);
+}
+
+void DistanceButton::buttonPressed() {
+  paramsMemory.putBool("OnroadDistanceButtonPressed", true);
+}
+
+void DistanceButton::buttonReleased() {
+  paramsMemory.putBool("OnroadDistanceButtonPressed", false);
+}
+
+void DistanceButton::updateState() {
+  if (personality != static_cast<int>(scene.personality)) {
+    transitionTimer.restart();
+  }
+
+  personality = static_cast<int>(scene.personality);
+}
+
+void DistanceButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
+
+  constexpr qreal fadeDuration = 1000.0;
+  constexpr qreal textDuration = 3000.0;
+  int elapsed = transitionTimer.elapsed();
+
+  qreal textOpacity = qBound(0.0, 1.0 - ((elapsed - textDuration) / fadeDuration), 1.0);
+  qreal imageOpacity = qBound(0.0, (elapsed - textDuration) / fadeDuration, 1.0);
+
+  auto &[profileImage, profileText] = scene.use_kaofui_icons ? profile_data_kaofui[personality] : profile_data[personality];
+
+  if (textOpacity != 0.0) {
+    p.setOpacity(textOpacity);
+    p.setFont(InterFont(40, QFont::Bold));
+    p.setPen(Qt::white);
+    QRect textRect(-25, 0, width(), height() + 95);
+    p.drawText(textRect, Qt::AlignCenter, profileText);
+  }
+
+  if (imageOpacity != 0.0) {
+    drawIcon(p, QPoint((btn_size / 2) * 1.25, btn_size / 2 + 95), profileImage, Qt::transparent, imageOpacity);
+  }
+}
+
 void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
   static QElapsedTimer timer;
   static bool isFiveSecondsPassed = false;

selfdrive/ui/qt/onroad.h

@@ -59,6 +59,30 @@ private:
   QPixmap staticElements;
 };
 
+class DistanceButton : public QPushButton {
+public:
+  explicit DistanceButton(QWidget *parent = nullptr);
+
+  void buttonPressed();
+  void buttonReleased();
+  void updateState();
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+
+private:
+  Params paramsMemory{"/dev/shm/params"};
+
+  UIScene &scene;
+
+  int personality;
+
+  QElapsedTimer transitionTimer;
+
+  QVector<std::pair<QPixmap, QString>> profile_data;
+  QVector<std::pair<QPixmap, QString>> profile_data_kaofui;
+};
+
 class ExperimentalButton : public QPushButton {
   Q_OBJECT
 
@@ -146,6 +170,7 @@ private:
   UIScene &scene;
 
   Compass *compass_img;
+  DistanceButton *distance_btn;
 
   QHBoxLayout *bottom_layout;
 
@@ -157,6 +182,7 @@ private:
   bool experimentalMode;
   bool leadInfo;
   bool mapOpen;
+  bool onroadDistanceButton;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;
   bool turnSignalLeft;

selfdrive/ui/ui.cc

@@ -348,6 +348,8 @@ 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.onroad_distance_button = scene.longitudinal_control && quality_of_life_controls && params.getBool("OnroadDistanceButton");
+  scene.use_kaofui_icons = scene.onroad_distance_button && params.getBool("KaofuiIcons");
   scene.reverse_cruise = quality_of_life_controls && params.getBool("ReverseCruise");
   scene.reverse_cruise_ui = scene.reverse_cruise && params.getBool("ReverseCruiseUI");
 

selfdrive/ui/ui.h

@@ -201,6 +201,7 @@ typedef struct UIScene {
   bool model_ui;
   bool numerical_temp;
   bool online;
+  bool onroad_distance_button;
   bool reverse;
   bool reverse_cruise;
   bool reverse_cruise_ui;
@@ -212,6 +213,7 @@ typedef struct UIScene {
   bool turn_signal_left;
   bool turn_signal_right;
   bool unlimited_road_ui_length;
+  bool use_kaofui_icons;
   bool use_si;
 
   float acceleration;