ui: developer ui (#48)

* Hide 2nd row dev UI when map is visible * Dev UI init * fixup! Dev UI init * fixup! Dev UI init * fixup! Dev UI init * fixup! Dev UI init * fixup! Dev UI init * fixup! Dev UI init * Disable lateraState for now? * Revert "Disable lateraState for now?" This reverts commit ff669862e9ab7cfe421a0266dfc503b3b190143a. * add cs.laterelState * should be bool * bruh * change dm icon too * Bruh should be y * don't draw border * bolded text * bring back memory usage * angleSteer status color * move it higher * higher * lower * closer together * Move this button too * fixup! Move this button too * Move this text? * to the left * left and down * missed an argument * move them a bit * readjust bottom row positioning * test position * revert to this * wider! * proper space reference * unused * other method * fix * shorter * more spaces * wider * do it like this * should be width * add on top * wider * lineup right * align this right * different one * try this * fix * align right! * make unit strings standalone * Try this out * adjust * align to unit strings * adjust! * adjust! * Revert "adjust!" This reverts commit 748b74c21a986b4ed62acdcceb83226ff523e5ce. * Revert "adjust!" This reverts commit 4f5373b0de503203098c5fd495e72227f4525be4. * more adjust * final adjust? * final adjust? * wider * keep left * Try this out * more together * hmm * adjust * align differently * adjust final * adjust more * adjust more * Try this out * last * Try this * Try that * wider * only check when starting * comment * remove second column and second row; change settings to 5 or 10 metrics; implement in future PRs * fixup! remove second column and second row; change settings to 5 or 10 metrics; implement in future PRs * fixup! remove second column and second row; change settings to 5 or 10 metrics; implement in future PRs
2026-07-17 10:42:07 +08:00 · 2023-03-12 16:23:00 -04:00
parent 97b21eb0dd
commit d124f62078
11 changed files with 464 additions and 23 deletions
@@ -222,7 +222,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CustomStockLong", PERSISTENT},
    {"CustomTorqueLateral", PERSISTENT},
    {"DevUI", PERSISTENT},
-    {"DevUIRow", PERSISTENT},
+    {"DevUIInfo", PERSISTENT},
    {"DisableOnroadUploads", PERSISTENT},
    {"DisengageLateralOnBrake", PERSISTENT},
    {"DynamicLaneProfile", PERSISTENT},
@@ -843,6 +843,7 @@ class Controls:
      controlsState.lateralControlState.torqueState = lac_log
    elif lat_tuning == 'indi':
      controlsState.lateralControlState.indiState = lac_log
+    controlsState.lateralState = lat_tuning

    self.pm.send('controlsState', dat)

@@ -60,7 +60,7 @@ def manager_init() -> None:
    ("CustomBootScreen", "0"),
    ("CustomOffsets", "0"),
    ("DevUI", "1"),
-    ("DevUIRow", "1"),
+    ("DevUIInfo", "1"),
    ("DisableOnroadUploads", "0"),
    ("DisengageLateralOnBrake", "1"),
    ("DynamicLaneProfile", "2"),
@@ -56,6 +56,8 @@ void HomeWindow::updateState(const UIState &s) {
    body->setEnabled(true);
    slayout->setCurrentWidget(body);
  }
+
+  uiState()->scene.map_visible = onroad->isMapVisible();
 }

 void HomeWindow::offroadTransition(bool offroad) {
@@ -585,7 +585,7 @@ SPVisualsPanel::SPVisualsPanel(QWidget *parent) : QWidget(parent) {
  );
  devUiSub->setContentsMargins(QMargins());
  devUiSub->addWidget(horizontal_line());
-  devUiSub->addWidget(new DevUiRow());
+  devUiSub->addWidget(new DevUiInfo());
  connect(devUi, &ToggleControl::toggleFlipped, [=](bool state) {
    updateToggles();
  });
@@ -1697,8 +1697,8 @@ void VwAccType::refresh() {
  btnplus.setText("+");
 }

-// Developer UI Rows (Dev UI)
-DevUiRow::DevUiRow() : AbstractControl(
+// Developer UI Info (Dev UI)
+DevUiInfo::DevUiInfo() : AbstractControl(
  tr("Developer UI List"),
  tr("Select the number of lists of real-time parameters you would like to display on the sunnypilot screen while driving."),
  "../assets/offroad/icon_blank.png")
@@ -1730,37 +1730,37 @@ DevUiRow::DevUiRow() : AbstractControl(
  hlayout->addWidget(&btnplus);

  QObject::connect(&btnminus, &QPushButton::clicked, [=]() {
-    auto str = QString::fromStdString(params.get("DevUIRow"));
+    auto str = QString::fromStdString(params.get("DevUIInfo"));
    int value = str.toInt();
    value = value - 1;
    if (value <= 0 ) {
      value = 0;
    }
    QString values = QString::number(value);
-    params.put("DevUIRow", values.toStdString());
+    params.put("DevUIInfo", values.toStdString());
    refresh();
  });

  QObject::connect(&btnplus, &QPushButton::clicked, [=]() {
-    auto str = QString::fromStdString(params.get("DevUIRow"));
+    auto str = QString::fromStdString(params.get("DevUIInfo"));
    int value = str.toInt();
    value = value + 1;
    if (value >= 1 ) {
      value = 1;
    }
    QString values = QString::number(value);
-    params.put("DevUIRow", values.toStdString());
+    params.put("DevUIInfo", values.toStdString());
    refresh();
  });
  refresh();
 }

-void DevUiRow::refresh() {
-  QString option = QString::fromStdString(params.get("DevUIRow"));
+void DevUiInfo::refresh() {
+  QString option = QString::fromStdString(params.get("DevUIInfo"));
  if (option == "0") {
-    label.setText(tr("1-Row"));
+    label.setText(tr("5 Metrics"));
  } else {
-    label.setText(tr("2-Row"));
+    label.setText(tr("10 Metrics"));
  }
  btnminus.setText("-");
  btnplus.setText("+");
@@ -323,11 +323,11 @@ private:
  void refresh();
 };

-class DevUiRow : public AbstractControl {
+class DevUiInfo : public AbstractControl {
  Q_OBJECT

 public:
-  DevUiRow();
+  DevUiInfo();

 private:
  QPushButton btnplus;
@@ -155,8 +155,8 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
  auto car_state = sm["carState"].getCarState();
  auto controls_state = sm["controlsState"].getControlsState();

-  QRect dlp_btn_rect = QRect(bdr_s * 2 + 220, (rect().bottom() - footer_h / 2 - 75), 150, 150);
-  QRect gac_btn_rect = QRect(bdr_s * 2 + 220 + 180, (rect().bottom() - footer_h / 2 - 75), 150, 150);
+  QRect dlp_btn_rect = QRect(bdr_s * 2 + 220, (rect().bottom() - footer_h / 2 - 75) - scene.rn_offset, 150, 150);
+  QRect gac_btn_rect = QRect(bdr_s * 2 + 220 + 180, (rect().bottom() - footer_h / 2 - 75) - scene.rn_offset, 150, 150);
  QRect debug_tap_rect = QRect(rect().center().x() - 200, rect().center().y() - 200, 400, 400);
  QRect speed_limit_touch_rect = speed_sgn_rc.adjusted(-50, -50, 50, 50);

@@ -377,6 +377,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  const auto cs = sm["controlsState"].getControlsState();
  const auto car_state = sm["carState"].getCarState();
  const auto car_control = sm["carControl"].getCarControl();
+  const auto radar_state = sm["radarState"].getRadarState();
+  const auto gpsLocationExternal = sm["gpsLocationExternal"].getGpsLocationExternal();
+  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();

  // Handle older routes where vCruiseCluster is not set
  float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -436,6 +439,33 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
              car_state.getCruiseState().getAvailable());
  setProperty("gacTr", s.scene.gac_tr);

+  setProperty("mapVisible", s.scene.map_visible);
+
+  // ############################## DEV UI START ##############################
+  setProperty("lead_d_rel", radar_state.getLeadOne().getDRel());
+  setProperty("lead_v_rel", radar_state.getLeadOne().getVRel());
+  setProperty("lead_status", radar_state.getLeadOne().getStatus());
+  setProperty("lateralState", QString::fromStdString(cs.getLateralState()));
+  setProperty("angleSteers", car_state.getSteeringAngleDeg());
+  setProperty("steerAngleDesired", cs.getLateralControlState().getPidState().getSteeringAngleDesiredDeg());
+  setProperty("curvature", cs.getCurvature());
+  setProperty("roll", sm["liveParameters"].getLiveParameters().getRoll());
+  setProperty("memoryUsagePercent", sm["deviceState"].getDeviceState().getMemoryUsagePercent());
+  setProperty("devUiEnabled", s.scene.dev_ui_enabled);
+  setProperty("devUiInfo", s.scene.dev_ui_info);
+  setProperty("gpsAccuracy", gpsLocationExternal.getAccuracy());
+  setProperty("altitude", gpsLocationExternal.getAltitude());
+  setProperty("vEgo", car_state.getVEgo());
+  setProperty("aEgo", car_state.getAEgo());
+  setProperty("steeringTorqueEps", car_state.getSteeringTorqueEps());
+  setProperty("bearingAccuracyDeg", gpsLocationExternal.getBearingAccuracyDeg());
+  setProperty("bearingDeg", gpsLocationExternal.getBearingDeg());
+  setProperty("torquedUseParams", s.scene.live_torque_toggle && !s.scene.custom_torque_toggle);
+  setProperty("latAccelFactorFiltered", ltp.getLatAccelFactorFiltered());
+  setProperty("frictionCoefficientFiltered", ltp.getFrictionCoefficientFiltered());
+  setProperty("liveValid", ltp.getLiveValid());
+  // ############################## DEV UI END ##############################
+
  // update engageability/experimental mode button
  experimental_btn->updateState(s);

@@ -690,13 +720,32 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
    drawText(p, rect().center().x(), 290, speedUnit, 200);
  }

+  // ####### 1 ROW #######
+  QRect bar_rect1(rect().left(), rect().bottom() - 60, rect().width(), 61);
+  if (devUiEnabled && !mapVisible && devUiInfo == 1) {
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(0, 0, 0, 100));
+    p.drawRect(bar_rect1);
+    drawNewDevUi2(p, bar_rect1.left(), bar_rect1.center().y());
+  }
+
+  // ####### 1 COLUMN ########
+  QRect rc2(rect().right() - (bdr_s * 2), bdr_s * 1.5, 184, 152);
+  if (devUiEnabled) {
+    drawRightDevUi(p, rect().right() - 184 - bdr_s * 2, bdr_s * 2 + rc2.height());
+  }
+
+  int rn_btn = 0;
+  rn_btn = devUiEnabled && !mapVisible && devUiInfo == 1 ? 30 : 0;
+  uiState()->scene.rn_offset = rn_btn;
+
  // Dynamic Lane Profile Button
  if (dynamicLaneProfileToggle) {
-    drawDlpButton(p, bdr_s * 2 + 220, (rect().bottom() - footer_h / 2 - 75), 150, 150);
+    drawDlpButton(p, bdr_s * 2 + 220, (rect().bottom() - footer_h / 2 - 75) - rn_btn, 150, 150);
  }

  if (gac) {
-    drawGacButton(p, bdr_s * 2 + 220 + 180, (rect().bottom() - footer_h / 2 - 75), 150, 150);
+    drawGacButton(p, bdr_s * 2 + 220 + 180, (rect().bottom() - footer_h / 2 - 75) - rn_btn, 150, 150);
  }

  // Stand Still Timer
@@ -938,6 +987,321 @@ void AnnotatedCameraWidget::drawTrunSpeedSign(QPainter &p, QRect rc, const QStri
  drawCenteredText(p, x, y + 65, sub_text, text_color);
 }

+// ############################## DEV UI START ##############################
+void AnnotatedCameraWidget::drawCenteredLeftText(QPainter &p, int x, int y, const QString &text1, QColor color1, const QString &text2, const QString &text3, QColor color2) {
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(text1 + " ");
+  QRect real_rect = fm.boundingRect(init_rect, 0, text1 + " ");
+  real_rect.moveCenter({x, y});
+
+  QRect init_rect3 = fm.boundingRect(text3);
+  QRect real_rect3 = fm.boundingRect(init_rect3, 0, text3);
+  real_rect3.moveTop(real_rect.top());
+  real_rect3.moveLeft(real_rect.right() + 135);
+
+  QRect init_rect2 = fm.boundingRect(text2);
+  QRect real_rect2 = fm.boundingRect(init_rect2, 0, text2);
+  real_rect2.moveTop(real_rect.top());
+  real_rect2.moveRight(real_rect.right() + 125);
+
+  p.setPen(color1);
+  p.drawText(real_rect, Qt::AlignLeft | Qt::AlignVCenter, text1);
+
+  p.setPen(color2);
+  p.drawText(real_rect2, Qt::AlignRight | Qt::AlignVCenter, text2);
+  p.drawText(real_rect3, Qt::AlignLeft | Qt::AlignVCenter, text3);
+}
+
+int AnnotatedCameraWidget::drawDevUiElementRight(QPainter &p, int x, int y, const char* value, const char* label, const char* units, QColor &color) {
+  configFont(p, "Inter", 30 * 2, "Bold");
+  drawColoredText(p, x + 92, y + 80, QString(value), color);
+
+  configFont(p, "Inter", 28, "Bold");
+  drawText(p, x + 92, y + 80 + 42, QString(label), 255);
+
+  if (strlen(units) > 0) {
+    p.save();
+    p.translate(x + 54 + 30 - 3 + 92 + 30, y + 37 + 25);
+    p.rotate(-90);
+    drawText(p, 0, 0, QString(units), 255);
+    p.restore();
+  }
+
+  return 110;
+}
+
+void AnnotatedCameraWidget::drawRightDevUi(QPainter &p, int x, int y) {
+  int rh = 5;
+  int ry = y;
+
+  // Add Relative Distance to Primary Lead Car
+  // Unit: Meters
+  if (true) {
+    char val_str[16];
+    char units_str[8];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    if (lead_status) {
+      // Orange if close, Red if very close
+      if (lead_d_rel < 5) {
+        valueColor = QColor(255, 0, 0, 255);
+      } else if (lead_d_rel < 15) {
+        valueColor = QColor(255, 188, 0, 255);
+      }
+      snprintf(val_str, sizeof(val_str), "%d", (int)lead_d_rel);
+    } else {
+      snprintf(val_str, sizeof(val_str), "-");
+    }
+
+    snprintf(units_str, sizeof(units_str), "m");
+
+    rh += drawDevUiElementRight(p, x, ry, val_str, "REL DIST", units_str, valueColor);
+    ry = y + rh;
+  }
+
+  // Add Relative Velocity vs Primary Lead Car
+  // Unit: kph if metric, else mph
+  if (true) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+     if (lead_status) {
+       // Red if approaching faster than 10mph
+       // Orange if approaching (negative)
+       if (lead_v_rel < -4.4704) {
+        valueColor = QColor(255, 0, 0, 255);
+       } else if (lead_v_rel < 0) {
+         valueColor = QColor(255, 188, 0, 255);
+       }
+
+       if (speedUnit == "mph") {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(lead_v_rel * 2.236936)); //mph
+       } else {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(lead_v_rel * 3.6)); //kph
+       }
+     } else {
+       snprintf(val_str, sizeof(val_str), "-");
+     }
+
+    rh += drawDevUiElementRight(p, x, ry, val_str, "REL SPEED", speedUnit.toStdString().c_str(), valueColor);
+    ry = y + rh;
+  }
+
+  // Add Real Steering Angle
+  // Unit: Degrees
+  if (true) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+    if (madsEnabled && latActive) {
+      valueColor = QColor(0, 255, 0, 255);
+    } else {
+      valueColor = QColor(255, 255, 255, 255);
+    }
+
+    // Red if large steering angle
+    // Orange if moderate steering angle
+    if (std::fabs(angleSteers) > 180) {
+      valueColor = QColor(255, 0, 0, 255);
+    } else if (std::fabs(angleSteers) > 90) {
+      valueColor = QColor(255, 188, 0, 255);
+    }
+
+    snprintf(val_str, sizeof(val_str), "%.1f%s%s", angleSteers , "°", "");
+
+    rh += drawDevUiElementRight(p, x, ry, val_str, "REAL STEER", "", valueColor);
+    ry = y + rh;
+  }
+
+  // Add Actual Lateral Acceleration (roll compensated) when using Torque
+  // Unit: m/s²
+  // Add Desired Steering Angle when using PID
+  // Unit: Degrees
+  if (lateralState == "torque") {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    float actualLateralAccel = (curvature * pow(vEgo, 2)) - (roll * 9.81);
+
+    if (madsEnabled && latActive) {
+      snprintf(val_str, sizeof(val_str), "%.2f", actualLateralAccel);
+    } else {
+      snprintf(val_str, sizeof(val_str), "-");
+    }
+
+    rh += drawDevUiElementRight(p, x, ry, val_str, "ACTUAL LAT", "m/s²", valueColor);
+    ry = y + rh;
+  } else {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    if (madsEnabled && latActive) {
+      // Red if large steering angle
+      // Orange if moderate steering angle
+      if (std::fabs(angleSteers) > 180) {
+        valueColor = QColor(255, 0, 0, 255);
+      } else if (std::fabs(angleSteers) > 90) {
+        valueColor = QColor(255, 188, 0, 255);
+      }
+
+      snprintf(val_str, sizeof(val_str), "%.1f%s%s", steerAngleDesired, "°", "");
+    } else {
+      snprintf(val_str, sizeof(val_str), "-");
+    }
+
+    rh += drawDevUiElementRight(p, x, ry, val_str, "DESIR STEER", "", valueColor);
+    ry = y + rh;
+  }
+
+  // Add Device Memory Usage
+  // Unit: Percent
+  if (true) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    if (memoryUsagePercent > 75) {
+      valueColor = QColor(255, 188, 0, 255);
+    }
+
+    snprintf(val_str, sizeof(val_str), "%d%s", (int)memoryUsagePercent, "%");
+
+    rh += drawDevUiElementRight(p, x, ry, val_str, "MEMORY", "", valueColor);
+    ry = y + rh;
+  }
+
+  rh += 25;
+  p.setBrush(QColor(0, 0, 0, 0));
+  QRect ldu(x, y, 184, rh);
+}
+
+int AnnotatedCameraWidget::drawNewDevUiElement(QPainter &p, int x, int y, const char* value, const char* label, const char* units, QColor &color) {
+  configFont(p, "Inter", 38, "Bold");
+  drawCenteredLeftText(p, x, y, QString(label), whiteColor(), QString(value), QString(units), color);
+
+  return 430;
+}
+
+void AnnotatedCameraWidget::drawNewDevUi2(QPainter &p, int x, int y) {
+  int rw = 90;
+
+  // Add Acceleration from Car
+  // Unit: Meters per Second Squared
+  if (true) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    snprintf(val_str, sizeof(val_str), "%.1f", aEgo);
+
+    rw += drawNewDevUiElement(p, rw, y, val_str, "ACC.", "m/s²", valueColor);
+  }
+
+  // Add Velocity of Primary Lead Car
+  // Unit: kph if metric, else mph
+  if (true) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+     if (lead_status) {
+       if (speedUnit == "mph") {
+         snprintf(val_str, sizeof(val_str), "%d", (int)((lead_v_rel + vEgo) * 2.236936)); //mph
+       } else {
+         snprintf(val_str, sizeof(val_str), "%d", (int)((lead_v_rel + vEgo) * 3.6)); //kph
+       }
+     } else {
+       snprintf(val_str, sizeof(val_str), "-");
+     }
+
+    rw += drawNewDevUiElement(p, rw, y, val_str, "L.S.", speedUnit.toStdString().c_str(), valueColor);
+  }
+
+  // Add Friction Coefficient Raw from torqued
+  // Unit: None
+  if (torquedUseParams) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    if (liveValid) valueColor = QColor(0, 255, 0, 255);
+    snprintf(val_str, sizeof(val_str), "%.3f", frictionCoefficientFiltered);
+
+    rw += drawNewDevUiElement(p, rw, y, val_str, "FRIC.", "", valueColor);
+  }
+
+  // Add Steering Torque from Car EPS
+  // Unit: Newton Meters
+  else {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    snprintf(val_str, sizeof(val_str), "%.1f", std::fabs(steeringTorqueEps));
+
+    rw += drawNewDevUiElement(p, rw, y, val_str, "E.T.", "N·dm", valueColor);
+  }
+
+  // Add Lateral Acceleration Factor Raw from torqued
+  // Unit: m/s²
+  if (torquedUseParams) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    if (liveValid) valueColor = QColor(0, 255, 0, 255);
+    snprintf(val_str, sizeof(val_str), "%.3f", latAccelFactorFiltered);
+
+    rw += drawNewDevUiElement(p, rw, y, val_str, "L.A.", "m/s²", valueColor);
+  }
+
+  // Add Bearing Degree and Direction from Car (Compass)
+  // Unit: Meters
+  else {
+    char val_str[16];
+    char dir_str[8];
+    char data_string[30];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    if (bearingAccuracyDeg != 180.00) {
+      snprintf(val_str, sizeof(val_str), "%.0d%s%s", (int)bearingDeg, "°", "");
+      if (((bearingDeg >= 337.5) && (bearingDeg <= 360)) || ((bearingDeg >= 0) && (bearingDeg <= 22.5))) {
+        snprintf(dir_str, sizeof(dir_str), "N");
+      } else if ((bearingDeg > 22.5) && (bearingDeg < 67.5)) {
+        snprintf(dir_str, sizeof(dir_str), "NE");
+      } else if ((bearingDeg >= 67.5) && (bearingDeg <= 112.5)) {
+        snprintf(dir_str, sizeof(dir_str), "E");
+      } else if ((bearingDeg > 112.5) && (bearingDeg < 157.5)) {
+        snprintf(dir_str, sizeof(dir_str), "SE");
+      } else if ((bearingDeg >= 157.5) && (bearingDeg <= 202.5)) {
+        snprintf(dir_str, sizeof(dir_str), "S");
+      } else if ((bearingDeg > 202.5) && (bearingDeg < 247.5)) {
+        snprintf(dir_str, sizeof(dir_str), "SW");
+      } else if ((bearingDeg >= 247.5) && (bearingDeg <= 292.5)) {
+        snprintf(dir_str, sizeof(dir_str), "W");
+      } else if ((bearingDeg > 292.5) && (bearingDeg < 337.5)) {
+        snprintf(dir_str, sizeof(dir_str), "NW");
+      }
+    } else {
+      snprintf(dir_str, sizeof(dir_str), "OFF");
+      snprintf(val_str, sizeof(val_str), "-");
+    }
+
+    snprintf(data_string, sizeof(data_string), "%s | %s", dir_str, val_str);
+
+    rw += drawNewDevUiElement(p, rw, y, "B.D.", data_string, "", valueColor);
+  }
+
+  // Add Altitude of Current Location
+  // Unit: Meters
+  if (true) {
+    char val_str[16];
+    QColor valueColor = QColor(255, 255, 255, 255);
+
+    if (gpsAccuracy != 0.00) {
+      snprintf(val_str, sizeof(val_str), "%.1f", altitude);
+    } else {
+      snprintf(val_str, sizeof(val_str), "-");
+    }
+
+    rw += drawNewDevUiElement(p, rw, y, val_str, "ALT.", "m", valueColor);
+  }
+}
+
+// ############################## DEV UI END ##############################

 void AnnotatedCameraWidget::initializeGL() {
  CameraWidget::initializeGL();
@@ -1068,7 +1432,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)

  // base icon
  int x = rightHandDM ? rect().right() -  (btn_size - 24) / 2 - (bdr_s * 2) : (btn_size - 24) / 2 + (bdr_s * 2);
-  int y = rect().bottom() - footer_h / 2;
+  int y = rect().bottom() - footer_h / 2 - scene.rn_offset;
  float opacity = dmActive ? 0.65 : 0.2;
  drawIcon(painter, x, y, dm_img, blackColor(0), opacity);

@@ -109,6 +109,33 @@ class AnnotatedCameraWidget : public CameraWidget {
  Q_PROPERTY(bool gac MEMBER gac);
  Q_PROPERTY(int gacTr MEMBER gacTr);

+  Q_PROPERTY(bool mapVisible MEMBER mapVisible);
+
+  // ############################## DEV UI START ##############################
+  Q_PROPERTY(bool lead_status MEMBER lead_status);
+  Q_PROPERTY(float lead_d_rel MEMBER lead_d_rel);
+  Q_PROPERTY(float lead_v_rel MEMBER lead_v_rel);
+  Q_PROPERTY(QString lateralState MEMBER lateralState);
+  Q_PROPERTY(float angleSteers MEMBER angleSteers);
+  Q_PROPERTY(float steerAngleDesired MEMBER steerAngleDesired);
+  Q_PROPERTY(float curvature MEMBER curvature);
+  Q_PROPERTY(float roll MEMBER roll);
+  Q_PROPERTY(int memoryUsagePercent MEMBER memoryUsagePercent);
+  Q_PROPERTY(bool devUiEnabled MEMBER devUiEnabled);
+  Q_PROPERTY(int devUiInfo MEMBER devUiInfo);
+  Q_PROPERTY(float gpsAccuracy MEMBER gpsAccuracy);
+  Q_PROPERTY(float altitude MEMBER altitude);
+  Q_PROPERTY(float vEgo MEMBER vEgo);
+  Q_PROPERTY(float aEgo MEMBER aEgo);
+  Q_PROPERTY(float steeringTorqueEps MEMBER steeringTorqueEps);
+  Q_PROPERTY(float bearingAccuracyDeg MEMBER bearingAccuracyDeg);
+  Q_PROPERTY(float bearingDeg MEMBER bearingDeg);
+  Q_PROPERTY(bool torquedUseParams MEMBER torquedUseParams);
+  Q_PROPERTY(float latAccelFactorFiltered MEMBER latAccelFactorFiltered);
+  Q_PROPERTY(float frictionCoefficientFiltered MEMBER frictionCoefficientFiltered);
+  Q_PROPERTY(bool liveValid MEMBER liveValid);
+  // ############################## DEV UI END ##############################
+
 public:
  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
  void updateState(const UIState &s);
@@ -130,6 +157,14 @@ private:
  void drawColoredText(QPainter &p, int x, int y, const QString &text, QColor color);
  void drawStandstillTimer(QPainter &p, int x, int y);

+  // ############################## DEV UI START ##############################
+  void drawRightDevUi(QPainter &p, int x, int y);
+  int drawDevUiElementRight(QPainter &p, int x, int y, const char* value, const char* label, const char* units, QColor &color);
+  int drawNewDevUiElement(QPainter &p, int x, int y, const char* value, const char* label, const char* units, QColor &color);
+  void drawNewDevUi2(QPainter &p, int x, int y);
+  void drawCenteredLeftText(QPainter &p, int x, int y, const QString &text1, QColor color1, const QString &text2, const QString &text3, QColor color2);
+  // ############################## DEV UI END ##############################
+
  uint64_t last_update_params;

  ExperimentalButton *experimental_btn;
@@ -199,6 +234,33 @@ private:
  bool gac;
  int gacTr;

+  bool mapVisible;
+
+  // ############################## DEV UI START ##############################
+  bool lead_status;
+  float lead_d_rel = 0;
+  float lead_v_rel = 0;
+  QString lateralState;
+  float angleSteers = 0;
+  float steerAngleDesired = 0;
+  float curvature;
+  float roll;
+  int memoryUsagePercent;
+  bool devUiEnabled;
+  int devUiInfo;
+  float gpsAccuracy;
+  float altitude;
+  float vEgo;
+  float aEgo;
+  float steeringTorqueEps;
+  float bearingAccuracyDeg;
+  float bearingDeg;
+  bool torquedUseParams;
+  float latAccelFactorFiltered;
+  float frictionCoefficientFiltered;
+  bool liveValid;
+  // ############################## DEV UI END ##############################
+
 protected:
  void paintGL() override;
  void initializeGL() override;
@@ -100,8 +100,8 @@ void ScreenRecoder::paintEvent(QPaintEvent *event) {
  QPainter p(this);
  p.setRenderHint(QPainter::Antialiasing);

-  QPoint center(btn_size / 2, btn_size / 2);
-  QRect rec_btn(36, 36, 120, 120);
+  QPoint center(btn_size / 2 - 25, btn_size / 2 + 10 - uiState()->scene.rn_offset);
+  QRect rec_btn(36 - 25, 36 + 10 - uiState()->scene.rn_offset, 120, 120);

  p.setOpacity(1.0);
  p.setPen(Qt::NoPen);
@@ -243,6 +243,8 @@ void ui_update_params(UIState *s) {
  s->scene.gac_mode = std::atoi(params.get("GapAdjustCruiseMode").c_str());
  s->scene.gac_min = std::atoi(params.get("GapAdjustCruiseMin").c_str());
  s->scene.gac_max = std::atoi(params.get("GapAdjustCruiseMax").c_str());
+  s->scene.dev_ui_enabled = params.getBool("DevUI");
+  s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());

  if (s->scene.onroadScreenOff > 0) {
    s->scene.osoTimer = s->scene.onroadScreenOff * 60 * UI_FREQ;
@@ -279,6 +281,8 @@ void UIState::updateStatus() {
      status = STATUS_DISENGAGED;
      scene.started_frame = sm->frame;
      wide_cam_only = Params().getBool("WideCameraOnly");
+      scene.live_torque_toggle = Params().getBool("LiveTorque");
+      scene.custom_torque_toggle = Params().getBool("CustomTorqueLateral");
    }
    started_prev = scene.started;
    emit offroadTransition(!scene.started);
@@ -297,7 +301,8 @@ UIState::UIState(QObject *parent) : QObject(parent) {
    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
-    "uiPlan", "carControl", "lateralPlan", "longitudinalPlan", "liveMapData",
+    "uiPlan", "carControl", "lateralPlan", "longitudinalPlan", "liveMapData", "gpsLocationExternal", "liveParameters",
+    "liveTorqueParameters",
  });

  Params params;
@@ -169,6 +169,13 @@ typedef struct UIScene {

  bool gac;
  int gac_mode, gac_tr, gac_min, gac_max;
+
+  bool map_visible;
+  bool dev_ui_enabled;
+  int dev_ui_info;
+  int rn_offset;
+  bool live_torque_toggle;
+  bool custom_torque_toggle;
 } UIScene;

 class UIState : public QObject {