From bee2a5524c9c89dcf28c7c8a21211624f1bc9b7e Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sun, 12 May 2024 02:28:18 -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.cc         | 13 +++++++++++++
 selfdrive/ui/qt/onroad.h          |  1 +
 selfdrive/ui/ui.cc                |  4 ++++
 selfdrive/ui/ui.h                 |  2 ++
 5 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 9b0bfbe..711c968 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_variables.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.cc b/selfdrive/ui/qt/onroad.cc
index 33314ad..9722c1b 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -101,6 +101,17 @@ void OnroadWindow::updateState(const UIState &s) {
 
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   // FrogPilot clickable widgets
+  QRect maxSpeedRect(7, 25, 225, 225);
+  bool isMaxSpeedClicked = maxSpeedRect.contains(e->pos()) && scene.reverse_cruise_ui;
+
+  if (isMaxSpeedClicked) {
+    bool currentReverseCruise = scene.reverse_cruise;
+    uiState()->scene.reverse_cruise = !currentReverseCruise;
+    params.putBoolNonBlocking("ReverseCruise", !currentReverseCruise);
+    updateFrogPilotToggles();
+    return;
+  }
+
   if (scene.experimental_mode_via_screen && e->pos() != timeoutPoint) {
     if (clickTimer.isActive()) {
       clickTimer.stop();
@@ -414,6 +425,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
     ), 10));
   } else if (trafficModeActive) {
     p.setPen(QPen(redColor(), 10));
+  } else if (scene.reverse_cruise) {
+    p.setPen(QPen(blueColor(), 6));
   } else {
     p.setPen(QPen(whiteColor(75), 6));
   }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index efcfd8b..6a670ee 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -166,6 +166,7 @@ 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/ui.cc b/selfdrive/ui/ui.cc
index 0d552ea..314c3c1 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -288,6 +288,10 @@ void ui_update_frogpilot_params(UIState *s) {
   bool longitudinal_tune = scene.longitudinal_control && params.getBool("LongitudinalTune");
   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");
 }
 
 void UIState::updateStatus() {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 81234ab..97729b9 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -196,6 +196,8 @@ 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;