Display the steering torque in the screen's border

frogpilot/ui/qt/onroad/frogpilot_onroad.cc

@@ -15,7 +15,18 @@ void FrogPilotOnroadWindow::updateState(const UIState &s, const FrogPilotUIState
   const cereal::CarState::Reader &carState = sm["carState"].getCarState();
   const cereal::CarControl::Reader &carControl = fpsm["carControl"].getCarControl();
 
+  torque = -carControl.getActuators().getTorque();
+
   showFPS = frogpilot_toggles.value("show_fps").toBool();
+  showSteering = frogpilot_toggles.value("steering_metrics").toBool();
+
+  if (showSteering) {
+    float absTorque = std::abs(torque);
+    smoothedSteer = 0.25f * absTorque + 0.75f * smoothedSteer;
+    if (std::abs(smoothedSteer - absTorque) < 0.01f) {
+      smoothedSteer = absTorque;
+    }
+  }
 
   if (showFPS) {
     static float avgFPS = 0.0f;
@@ -48,6 +59,10 @@ void FrogPilotOnroadWindow::paintEvent(QPaintEvent *event) {
   p.setClipRegion(marginRegion);
   p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
 
+  if (showSteering) {
+    paintSteeringTorqueBorder(p);
+  }
+
   if (showFPS) {
     paintFPS(p);
   }
@@ -66,3 +81,21 @@ void FrogPilotOnroadWindow::paintFPS(QPainter &p) {
 
   p.restore();
 }
+
+void FrogPilotOnroadWindow::paintSteeringTorqueBorder(QPainter &p) {
+  p.save();
+
+  QLinearGradient gradient(rect.topLeft(), rect.bottomLeft());
+  gradient.setColorAt(0.0, bg_colors[STATUS_TRAFFIC_MODE_ENABLED]);
+  gradient.setColorAt(0.25, bg_colors[STATUS_EXPERIMENTAL_MODE_ENABLED]);
+  gradient.setColorAt(0.5, bg_colors[STATUS_CEM_DISABLED]);
+  gradient.setColorAt(0.75, bg_colors[STATUS_ENGAGED]);
+
+  int visibleHeight = rect.height() * smoothedSteer;
+  int xPos = (torque < 0) ? rect.x() : (rect.x() + rect.width() - UI_BORDER_SIZE);
+  int yPos = rect.y() + rect.height() - visibleHeight;
+
+  p.fillRect(QRect(xPos, yPos, UI_BORDER_SIZE, visibleHeight), gradient);
+
+  p.restore();
+}

frogpilot/ui/qt/onroad/frogpilot_onroad.h

@@ -21,9 +21,14 @@ public:
 private:
   void paintEvent(QPaintEvent *event);
   void paintFPS(QPainter &p);
+  void paintSteeringTorqueBorder(QPainter &p);
   void resizeEvent(QResizeEvent *event);
 
   bool showFPS;
+  bool showSteering;
+
+  float smoothedSteer;
+  float torque;
 
   QRect rect;