Controls - Driving Personalities - Onroad Distance Button

Simulate a distance button via the onroad UI to control personalities, 'Experimental Mode', and 'Traffic Mode'.

selfdrive/controls/controlsd.py

@@ -71,6 +71,7 @@ class Controls:
     self.frogpilot_toggles = FrogPilotVariables.toggles
 
     self.drive_added = False
+    self.onroad_distance_pressed = False
     self.openpilot_crashed_triggered = False
 
     self.display_timer = 0
@@ -681,12 +682,13 @@ 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 any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) or self.onroad_distance_pressed:
         menu_open = self.display_timer > 0 or self.CP.carName != "gm" or not self.sm['frogpilotCarState'].hasCamera
-        if menu_open:
+        if not self.params_memory.get_bool("OnroadDistanceButtonPressed") and menu_open:
           self.personality = (self.personality - 1) % 3
           self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
         self.display_timer = 350
+      self.onroad_distance_pressed = self.params_memory.get_bool("OnroadDistanceButtonPressed")
 
     self.display_timer -= 1
 

selfdrive/ui/qt/onroad.cc

@@ -544,6 +544,7 @@ 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;
@@ -719,6 +720,9 @@ 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);
 
@@ -758,6 +762,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
   experimentalMode = scene.experimental_mode;
 
   mapOpen = scene.map_open;
+
+  onroadDistanceButton = scene.onroad_distance_button;
 }
 
 void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
@@ -765,6 +771,13 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     drawStatusBar(p);
   }
 
+  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);
@@ -772,6 +785,76 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
   }
 }
 
+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/traffic.png"), "Traffic"},
+    {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/traffic_kaofui.png"), "Traffic"},
+    {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() {
+  bool stateChanged = (trafficModeActive != scene.traffic_mode_active) ||
+                      (personality != static_cast<int>(scene.personality) && !trafficModeActive);
+
+  if (stateChanged) {
+    transitionTimer.restart();
+  }
+
+  personality = static_cast<int>(scene.personality);
+  trafficModeActive = scene.traffic_mode_active;
+}
+
+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);
+
+  int profile = trafficModeActive ? 0 : personality + 1;
+  auto &[profileImage, profileText] = scene.use_kaofui_icons ? profile_data_kaofui[profile] : profile_data[profile];
+
+  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::drawStatusBar(QPainter &p) {
   p.save();
 

selfdrive/ui/qt/onroad.h

@@ -34,6 +34,32 @@ private:
   UIScene &scene;
 };
 
+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;
+
+  bool trafficModeActive;
+
+  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
 
@@ -116,11 +142,14 @@ private:
   Params paramsMemory{"/dev/shm/params"};
   UIScene &scene;
 
+  DistanceButton *distance_btn;
+
   QHBoxLayout *bottom_layout;
 
   bool alwaysOnLateralActive;
   bool experimentalMode;
   bool mapOpen;
+  bool onroadDistanceButton;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;
 

selfdrive/ui/ui.cc

@@ -268,6 +268,10 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.conditional_speed = scene.conditional_experimental ? params.getInt("CESpeed") : 0;
   scene.conditional_speed_lead = scene.conditional_experimental ? params.getInt("CESpeedLead") : 0;
   scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
+
+  bool driving_personalities = scene.longitudinal_control && params.getBool("DrivingPersonalities");
+  scene.onroad_distance_button = driving_personalities && params.getBool("OnroadDistanceButton");
+  scene.use_kaofui_icons = scene.onroad_distance_button && params.getBool("KaofuiIcons");
 }
 
 void UIState::updateStatus() {

selfdrive/ui/ui.h

@@ -188,11 +188,13 @@ typedef struct UIScene {
   bool experimental_mode;
   bool map_open;
   bool online;
+  bool onroad_distance_button;
   bool parked;
   bool right_hand_drive;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool tethering_enabled;
+  bool use_kaofui_icons;
 
   int alert_size;
   int conditional_speed;