Controls - Quality of Life - Reverse Cruise Increase

Reverses the 'long press' functionality logic to increase the max set speed by 5 instead of 1. Useful to increase the max speed quickly.

selfdrive/car/toyota/toyotacan.py

@@ -43,7 +43,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,
-    "ALLOW_LONG_PRESS": 1,
+    "ALLOW_LONG_PRESS": 2 if frogpilot_toggles.reverse_cruise_increase else 1,
     "ACC_CUT_IN": fcw_alert,  # only shown when ACC enabled
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -123,6 +123,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
     ), 10));
   } else if (trafficModeActive) {
     p.setPen(QPen(redColor(), 10));
+  } else if (reverseCruise) {
+    p.setPen(QPen(blueColor(), 6));
   } else {
     p.setPen(QPen(whiteColor(75), 6));
   }
@@ -541,6 +543,8 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
     bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
   }
 
+  reverseCruise = scene.reverse_cruise;
+
   trafficModeActive = scene.traffic_mode_active;
 }
 

selfdrive/ui/qt/onroad/annotated_camera.h

@@ -58,6 +58,7 @@ private:
   bool experimentalMode;
   bool mapOpen;
   bool onroadDistanceButton;
+  bool reverseCruise;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;
   bool trafficModeActive;
@@ -76,6 +77,7 @@ private:
   QString leadDistanceUnit;
   QString leadSpeedUnit;
 
+  inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); }
   inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
 
 protected:

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -97,6 +97,15 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   // FrogPilot clickable widgets
   QPoint pos = e->pos();
 
+  QRect maxSpeedRect(7, 25, 225, 225);
+
+  if (maxSpeedRect.contains(pos) && scene.reverse_cruise_ui) {
+    scene.reverse_cruise = !scene.reverse_cruise;
+    params.putBoolNonBlocking("ReverseCruise", scene.reverse_cruise);
+    updateFrogPilotToggles();
+    return;
+  }
+
   if (scene.experimental_mode_via_screen && pos != timeoutPoint) {
     if (clickTimer.isActive()) {
       clickTimer.stop();

selfdrive/ui/ui.cc

@@ -298,6 +298,10 @@ void ui_update_frogpilot_params(UIState *s) {
   bool radarless_model = params.get("Model") == "radical-turtle";
   scene.lead_detection_threshold = longitudinal_tune && !radarless_model ? params.getInt("LeadDetectionThreshold") / 100.0f : 0.5;
 
+  bool quality_of_life_controls = params.getBool("QOLControls");
+  scene.reverse_cruise = quality_of_life_controls && params.getBool("ReverseCruise");
+  scene.reverse_cruise_ui = params.getBool("ReverseCruiseUI");
+
   scene.tethering_config = params.getInt("TetheringEnabled");
   if (scene.tethering_config == 2) {
     WifiManager(s).setTetheringEnabled(true);

selfdrive/ui/ui.h

@@ -132,6 +132,8 @@ typedef struct UIScene {
   bool online;
   bool onroad_distance_button;
   bool parked;
+  bool reverse_cruise;
+  bool reverse_cruise_ui;
   bool right_hand_drive;
   bool show_aol_status_bar;
   bool show_cem_status_bar;