From e8d2bc223b034107c02461e9abfe0167f3e7793a Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 8 Jun 2024 13:30:34 -0700
Subject: [PATCH] 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          | 2 +-
 selfdrive/ui/qt/onroad/annotated_camera.cc | 4 ++++
 selfdrive/ui/qt/onroad/annotated_camera.h  | 2 ++
 selfdrive/ui/qt/onroad/onroad_home.cc      | 9 +++++++++
 selfdrive/ui/ui.cc                         | 4 ++++
 selfdrive/ui/ui.h                          | 2 ++
 6 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 0c2f936b2..7d9c12a2f 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/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)
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index ee8df985d..ec50f8c31 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/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));
   }
@@ -545,6 +547,8 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
     bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft) | Qt::AlignBottom);
   }
 
+  reverseCruise = scene.reverse_cruise;
+
   trafficModeActive = scene.traffic_mode_active;
 }
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 094561093..00a7aa4c4 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/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:
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 829e8cec6..413bb8324 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/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();
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index aa17531dd..ee745bd29 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -302,6 +302,10 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   bool model_manager = params.getBool("ModelManagement");
   scene.model_randomizer = model_manager && params.getBool("ModelRandomizer");
 
+  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);
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 43aec27ea..694707512 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -134,6 +134,8 @@ 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;