Pedals on the onroad UI

Added toggle to show when the gas or brake pedals are being used on the onroad UI.

common/params.cc

@@ -326,6 +326,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PathEdgeWidth", PERSISTENT},
     {"PathWidth", PERSISTENT},
     {"PauseLateralOnSignal", PERSISTENT},
+    {"PedalsOnUI", PERSISTENT},
     {"PreferredSchedule", PERSISTENT},
     {"PromptVolume", PERSISTENT},
     {"PromptDistractedVolume", PERSISTENT},

selfdrive/frogpilot/ui/visual_settings.cc

@@ -32,6 +32,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
     {"FPSCounter", "FPS Counter", "Display the Frames Per Second (FPS) of your onroad UI for monitoring system performance.", ""},
     {"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
+    {"PedalsOnUI", "Pedals Being Pressed", "Display which pedals are being pressed on the onroad UI below the steering wheel icon.", ""},
     {"RoadNameUI", "Road Name", "See the name of the road you're on at the bottom of your screen. Sourced from OpenStreetMap.", ""},
 
     {"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},

selfdrive/frogpilot/ui/visual_settings.h

@@ -30,7 +30,7 @@ private:
 
   std::set<QString> alertVolumeControlKeys = {"EngageVolume", "DisengageVolume", "RefuseVolume", "PromptVolume", "PromptDistractedVolume", "WarningSoftVolume", "WarningImmediateVolume"};
   std::set<QString> customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert"};
-  std::set<QString> customOnroadUIKeys = {"AccelerationPath", "AdjacentPath", "BlindSpotPath", "FPSCounter", "LeadInfo", "RoadNameUI"};
+  std::set<QString> customOnroadUIKeys = {"AccelerationPath", "AdjacentPath", "BlindSpotPath", "FPSCounter", "LeadInfo", "PedalsOnUI", "RoadNameUI"};
   std::set<QString> customThemeKeys = {"HolidayThemes", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
   std::set<QString> modelUIKeys = {"DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
   std::set<QString> qolKeys = {"DriveStats", "FullMap", "HideSpeed"};

selfdrive/ui/qt/onroad.cc

@@ -400,8 +400,21 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   main_layout->setMargin(UI_BORDER_SIZE);
   main_layout->setSpacing(0);
 
+  QHBoxLayout *buttons_layout = new QHBoxLayout();
+  buttons_layout->setSpacing(0);
+
   experimental_btn = new ExperimentalButton(this);
-  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
+  buttons_layout->addWidget(experimental_btn);
+
+  QVBoxLayout *top_right_layout = new QVBoxLayout();
+  top_right_layout->setSpacing(0);
+  top_right_layout->addLayout(buttons_layout);
+
+  pedal_icons = new PedalIcons(this);
+  top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight);
+
+  main_layout->addLayout(top_right_layout, 0);
+  main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight);
 
   map_settings_btn = new MapSettingsButton(this);
   main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
@@ -1137,6 +1150,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   mapOpen = scene.map_open;
   fullMapOpen = mapOpen && scene.full_map;
 
+  pedalsOnUI = scene.pedals_on_ui;
+
   roadNameUI = scene.road_name_ui;
 
   showDriverCamera = scene.show_driver_camera;
@@ -1170,6 +1185,12 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
     bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight));
   }
 
+  bool enablePedalIcons = pedalsOnUI && !(fullMapOpen || showDriverCamera);
+  pedal_icons->setVisible(enablePedalIcons);
+  if (enablePedalIcons) {
+    pedal_icons->updateState();
+  }
+
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {
     map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
@@ -1446,6 +1467,44 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
   p.restore();
 }
 
+PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
+  setFixedSize(btn_size, btn_size);
+
+  brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size));
+  gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size));
+}
+
+void PedalIcons::updateState() {
+  acceleration = scene.acceleration;
+
+  accelerating = acceleration > 0.25;
+  decelerating = acceleration < -0.25;
+
+  if (accelerating || decelerating) {
+    update();
+  }
+}
+
+void PedalIcons::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  int totalWidth = 2 * img_size;
+  int startX = (width() - totalWidth) / 2;
+
+  int brakeX = startX + img_size / 2;
+  int gasX = startX + img_size;
+
+  float brakeOpacity = scene.standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
+  float gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
+
+  p.setOpacity(brakeOpacity);
+  p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img);
+
+  p.setOpacity(gasOpacity);
+  p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img);
+}
+
 void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.save();
 

selfdrive/ui/qt/onroad.h

@@ -93,6 +93,27 @@ private:
   QPixmap settings_img;
 };
 
+class PedalIcons : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit PedalIcons(QWidget *parent = 0);
+  void updateState();
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap brake_pedal_img;
+  QPixmap gas_pedal_img;
+
+  UIScene &scene;
+
+  bool accelerating;
+  bool decelerating;
+
+  float acceleration;
+};
+
 // container window for the NVG UI
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
@@ -143,6 +164,7 @@ private:
   UIScene &scene;
 
   Compass *compass_img;
+  PedalIcons *pedal_icons;
 
   QHBoxLayout *bottom_layout;
 
@@ -156,6 +178,7 @@ private:
   bool fullMapOpen;
   bool leadInfo;
   bool mapOpen;
+  bool pedalsOnUI;
   bool roadNameUI;
   bool showDriverCamera;
   bool turnSignalLeft;

selfdrive/ui/ui.cc

@@ -231,6 +231,12 @@ static void update_state(UIState *s) {
     if (scene.driver_camera) {
       scene.show_driver_camera = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
     }
+    if (scene.lead_info || scene.pedals_on_ui) {
+      scene.acceleration = carState.getAEgo();
+    }
+    if (scene.pedals_on_ui) {
+      scene.standstill = carState.getStandstill();
+    }
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -308,6 +314,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.fps_counter = custom_onroad_ui && params.getBool("FPSCounter");
   scene.lead_info = custom_onroad_ui && params.getBool("LeadInfo");
   scene.use_si = scene.lead_info && params.getBool("UseSI");
+  scene.pedals_on_ui = custom_onroad_ui && params.getBool("PedalsOnUI");
   scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
 
   bool custom_theme = params.getBool("CustomTheme");

selfdrive/ui/ui.h

@@ -200,15 +200,18 @@ typedef struct UIScene {
   bool map_open;
   bool model_ui;
   bool numerical_temp;
+  bool pedals_on_ui;
   bool reverse_cruise;
   bool reverse_cruise_ui;
   bool road_name_ui;
   bool show_driver_camera;
+  bool standstill;
   bool turn_signal_left;
   bool turn_signal_right;
   bool unlimited_road_ui_length;
   bool use_si;
 
+  float acceleration;
   float adjusted_cruise;
   float lane_line_width;
   float lane_width_left;