From af04cd6c65f4e5810f450cd1b1e1555cec666539 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Wed, 6 Mar 2024 18:30:45 -0700
Subject: [PATCH] Experimental Mode activation via steering wheel / onroad UI

Added toggle to enable or disable Experimental Mode from the steering wheel or onroad UI.
---
 common/params.cc                              |  4 +
 panda/python/__init__.py                      |  1 +
 selfdrive/car/gm/carstate.py                  | 14 ++++
 selfdrive/car/honda/carstate.py               | 10 +++
 selfdrive/car/hyundai/carstate.py             | 20 +++++
 selfdrive/car/hyundai/interface.py            |  4 +
 selfdrive/car/hyundai/values.py               |  1 +
 selfdrive/car/interfaces.py                   |  6 ++
 selfdrive/car/toyota/carstate.py              | 29 ++++++++
 selfdrive/controls/controlsd.py               |  4 +
 .../conditional_experimental_mode.py          | 13 +++-
 .../functions/frogpilot_functions.py          | 19 +++++
 selfdrive/frogpilot/ui/control_settings.cc    | 16 ++++
 selfdrive/frogpilot/ui/control_settings.h     |  1 +
 selfdrive/ui/qt/onroad.cc                     | 74 ++++++++++++++++---
 selfdrive/ui/qt/onroad.h                      |  3 +
 selfdrive/ui/ui.cc                            |  1 +
 selfdrive/ui/ui.h                             |  1 +
 18 files changed, 207 insertions(+), 14 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 5f1f906..35e9ea7 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -255,6 +255,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DriveStats", PERSISTENT},
     {"DynamicPathWidth", PERSISTENT},
     {"EngageVolume", PERSISTENT},
+    {"ExperimentalModeActivation", PERSISTENT},
+    {"ExperimentalModeViaDistance", PERSISTENT},
+    {"ExperimentalModeViaLKAS", PERSISTENT},
+    {"ExperimentalModeViaScreen", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
     {"GoatScream", PERSISTENT},
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index 1e60947..ee270e6 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -213,6 +213,7 @@ class Panda:
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
   FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
+  FLAG_HYUNDAI_LFA_BTN = 256
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index d886fc0..c319795 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -152,6 +152,20 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
+    # Toggle Experimental Mode from steering wheel function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
+      if self.CP.carFingerprint in SDGM_CAR:
+        lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
+      else:
+        lkas_pressed = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+
+      if lkas_pressed and not self.lkas_previously_pressed:
+        if frogpilot_variables.conditional_experimental_mode:
+          self.fpf.update_cestatus_lkas()
+        else:
+          self.fpf.update_experimental_mode()
+      self.lkas_previously_pressed = lkas_pressed
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 0d6f945..80cce77 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -263,6 +263,16 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
+    # Toggle Experimental Mode from steering wheel function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
+      lkas_pressed = self.cruise_setting == 1
+      if lkas_pressed and not self.lkas_previously_pressed:
+        if frogpilot_variables.conditional_experimental_mode:
+          self.fpf.update_cestatus_lkas()
+        else:
+          self.fpf.update_experimental_mode()
+      self.lkas_previously_pressed = lkas_pressed
+
     return ret
 
   def get_can_parser(self, CP):
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 0687a65..0326f6b 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -170,6 +170,16 @@ class CarState(CarStateBase):
     if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
       self.main_enabled = not self.main_enabled
 
+    # Toggle Experimental Mode from steering wheel function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
+      if lkas_pressed and not self.lkas_previously_pressed:
+        if frogpilot_variables.conditional_experimental_mode:
+          self.fpf.update_cestatus_lkas()
+        else:
+          self.fpf.update_experimental_mode()
+      self.lkas_previously_pressed = lkas_pressed
+
     return ret
 
   def update_canfd(self, cp, cp_cam, frogpilot_variables):
@@ -255,6 +265,13 @@ class CarState(CarStateBase):
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
                                           else cp_cam.vl["CAM_0x2a4"])
 
+    # Toggle Experimental Mode from steering wheel function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
+      lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
+      if lkas_pressed and not self.lkas_previously_pressed:
+        self.fpf.lkas_button_function(frogpilot_variables.conditional_experimental_mode)
+      self.lkas_previously_pressed = lkas_pressed
+
     return ret
 
   def get_can_parser(self, CP):
@@ -304,6 +321,9 @@ class CarState(CarStateBase):
     else:
       messages.append(("LVR12", 100))
 
+    if CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      messages.append(("BCM_PO_11", 50))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index b6a9853..c573767 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -316,6 +316,10 @@ class CarInterface(CarInterfaceBase):
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+      if 0x391 in fingerprint[0]:
+        ret.flags |= HyundaiFlags.CAN_LFA_BTN.value
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN
+
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1eefc30..a742125 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -67,6 +67,7 @@ class HyundaiFlags(IntFlag):
   CANFD_HDA2_ALT_STEERING = 512
   HYBRID = 1024
   EV = 2048
+  CAN_LFA_BTN = 4096
 
 
 class CAR(StrEnum):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index a5a42de..1572e44 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -373,6 +373,12 @@ class CarStateBase(ABC):
     # FrogPilot variables
     self.fpf = FrogPilotFunctions()
 
+    self.distance_button = False
+    self.distance_previously_pressed = False
+    self.lkas_previously_pressed = False
+
+    self.distance_pressed_counter = 0
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 7182ea4..f021de9 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -10,6 +10,7 @@ from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS
 
 SteerControlType = car.CarParams.SteerControlType
 
@@ -166,6 +167,34 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
+    # Experimental Mode via double clicking the LKAS button function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
+      message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
+      lkas_pressed = any(self.lkas_hud.get(key) == 1 for key in message_keys)
+
+      if lkas_pressed and not self.lkas_previously_pressed:
+        if frogpilot_variables.conditional_experimental_mode:
+          self.fpf.update_cestatus_distance()
+        else:
+          self.fpf.update_experimental_mode()
+
+      self.lkas_previously_pressed = lkas_pressed
+
+    # Experimental Mode via long pressing the distance button function
+    if ret.cruiseState.available:
+      if distance_pressed:
+        self.distance_pressed_counter += 1
+      elif self.distance_previously_pressed:
+        self.distance_pressed_counter = 0
+
+      if self.distance_pressed_counter == CRUISE_LONG_PRESS and frogpilot_variables.experimental_mode_via_distance:
+        if frogpilot_variables.conditional_experimental_mode:
+          self.fpf.update_cestatus_lkas()
+        else:
+          self.fpf.update_experimental_mode()
+
+      self.distance_previously_pressed = distance_pressed
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8c9e48f..7e569d8 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1023,6 +1023,10 @@ class Controls:
     frog_sounds = custom_sounds == 1
     self.goat_scream = frog_sounds and self.params.get_bool("GoatScream")
 
+    experimental_mode_activation = self.params.get_bool("ExperimentalModeActivation")
+    self.frogpilot_variables.experimental_mode_via_distance = experimental_mode_activation and self.params.get_bool("ExperimentalModeViaDistance")
+    self.frogpilot_variables.experimental_mode_via_lkas = experimental_mode_activation and self.params.get_bool("ExperimentalModeViaLKAS")
+
     lateral_tune = self.params.get_bool("LateralTune")
 
     longitudinal_tune = self.params.get_bool("LongitudinalTune")
diff --git a/selfdrive/frogpilot/functions/conditional_experimental_mode.py b/selfdrive/frogpilot/functions/conditional_experimental_mode.py
index be98665..a0dbdcf 100644
--- a/selfdrive/frogpilot/functions/conditional_experimental_mode.py
+++ b/selfdrive/frogpilot/functions/conditional_experimental_mode.py
@@ -37,15 +37,22 @@ class ConditionalExperimentalMode:
     lead = radarState.leadOne
     v_lead = lead.vLead
 
+    # Set the value of "overridden"
+    if self.experimental_mode_via_press:
+      overridden = self.params_memory.get_int("CEStatus")
+    else:
+      overridden = 0
+
     # Update Experimental Mode based on the current driving conditions
     condition_met = self.check_conditions(carState, frogpilotNavigation, lead, modelData, stop_distance, v_ego)
-    if (not self.experimental_mode and condition_met) and enabled:
+    if ((not self.experimental_mode and condition_met and overridden not in (1, 3, 5)) or overridden in (2, 4, 6)) and enabled:
       self.experimental_mode = True
-    elif (self.experimental_mode and not condition_met) or not enabled:
+    elif (self.experimental_mode and not condition_met and overridden not in (2, 4, 6)) or overridden in (1, 3, 5) or not enabled:
       self.experimental_mode = False
       self.status_value = 0
 
     # Update the onroad status bar
+    self.status_value = overridden if overridden in (1, 2, 3, 4, 5, 6) else self.status_value
     if self.status_value != self.previous_status_value:
       self.params_memory.put_int("CEStatus", self.status_value)
       self.previous_status_value = self.status_value
@@ -177,6 +184,8 @@ class ConditionalExperimentalMode:
     self.curves = params.get_bool("CECurves")
     self.curves_lead = self.curves and params.get_bool("CECurvesLead")
 
+    self.experimental_mode_via_press = params.get_bool("ExperimentalModeActivation")
+
     self.limit = params.get_int("CESpeed") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
     self.limit_lead = params.get_int("CESpeedLead") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
 
diff --git a/selfdrive/frogpilot/functions/frogpilot_functions.py b/selfdrive/frogpilot/functions/frogpilot_functions.py
index 59f0c75..2581a3f 100644
--- a/selfdrive/frogpilot/functions/frogpilot_functions.py
+++ b/selfdrive/frogpilot/functions/frogpilot_functions.py
@@ -80,6 +80,25 @@ class FrogPilotFunctions:
 
     return min(distance_to_lane, distance_to_road_edge)
 
+  @staticmethod
+  def update_cestatus_distance(self):
+    # Set "CEStatus" to work with "Conditional Experimental Mode"
+    conditional_status = params_memory.get_int("CEStatus")
+    override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 3 if conditional_status >= 7 else 4
+    params_memory.put_int("CEStatus", override_value)
+
+  @staticmethod
+  def update_cestatus_lkas(self):
+    # Set "CEStatus" to work with "Conditional Experimental Mode"
+    conditional_status = params_memory.get_int("CEStatus")
+    override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 5 if conditional_status >= 7 else 6
+    params_memory.put_int("CEStatus", override_value)
+
+  def update_experimental_mode(self):
+    experimental_mode = self.params.get_bool("ExperimentalMode")
+    # Invert the value of "ExperimentalMode"
+    self.params.put_bool("ExperimentalMode", not experimental_mode)
+
   @staticmethod
   def road_curvature(modelData, v_ego):
     predicted_velocities = np.array(modelData.velocity.x)
diff --git a/selfdrive/frogpilot/ui/control_settings.cc b/selfdrive/frogpilot/ui/control_settings.cc
index 0578cf4..6587b37 100644
--- a/selfdrive/frogpilot/ui/control_settings.cc
+++ b/selfdrive/frogpilot/ui/control_settings.cc
@@ -14,6 +14,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"CustomPersonalities", "Custom Driving Personalities", "Customize the driving personality profiles to your driving style.", "../frogpilot/assets/toggle_icons/icon_custom.png"},
     {"DeviceShutdown", "Device Shutdown Timer", "Configure the timer for automatic device shutdown when offroad conserving energy and preventing battery drain.", "../frogpilot/assets/toggle_icons/icon_time.png"},
 
+    {"ExperimentalModeActivation", "Experimental Mode Activation", "Toggle Experimental Mode with either buttons on ethe steering wheel or the screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
+    {"ExperimentalModeViaLKAS", "Double Clicking the LKAS Button", "Enable/disable 'Experimental Mode' by double clicking the 'LKAS' button on your steering wheel.", ""},
+    {"ExperimentalModeViaScreen", "Double Taping the Onroad UI", "Enable/disable 'Experimental Mode' by double taping the onroad UI within a 0.5 second time frame.", ""},
+    {"ExperimentalModeViaDistance", "Long Pressing the Distance Button", "Enable/disable 'Experimental Mode' by holding down the 'distance' button on your steering wheel for 0.5 seconds.", ""},
+
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -142,6 +147,16 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       }
       toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false);
 
+    } else if (param == "ExperimentalModeActivation") {
+      FrogPilotParamManageControl *experimentalModeActivationToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(experimentalModeActivationToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(experimentalModeActivationKeys.find(key.c_str()) != experimentalModeActivationKeys.end());
+        }
+      });
+      toggle = experimentalModeActivationToggle;
+
     } else if (param == "LateralTune") {
       FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -293,6 +308,7 @@ void FrogPilotControlsPanel::hideSubToggles() {
 
   for (auto &[key, toggle] : toggles) {
     bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
+                      experimentalModeActivationKeys.find(key.c_str()) != experimentalModeActivationKeys.end() ||
                       fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||
                       laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
                       lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
diff --git a/selfdrive/frogpilot/ui/control_settings.h b/selfdrive/frogpilot/ui/control_settings.h
index 11149e8..68899b1 100644
--- a/selfdrive/frogpilot/ui/control_settings.h
+++ b/selfdrive/frogpilot/ui/control_settings.h
@@ -36,6 +36,7 @@ private:
   FrogPilotDualParamControl *relaxedProfile;
 
   std::set<QString> conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
+  std::set<QString> experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
   std::set<QString> fireTheBabysitterKeys = {};
   std::set<QString> laneChangeKeys = {};
   std::set<QString> lateralTuneKeys = {};
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index ccb7de7..dffbaff 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -6,6 +6,7 @@
 #include <memory>
 #include <sstream>
 
+#include <QApplication>
 #include <QDebug>
 #include <QMouseEvent>
 
@@ -66,6 +67,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
   QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
+
+  QObject::connect(&clickTimer, &QTimer::timeout, this, [this]() {
+    clickTimer.stop();
+    QMouseEvent *event = new QMouseEvent(QEvent::MouseButtonPress, timeoutPoint, Qt::LeftButton, Qt::LeftButton, Qt::NoModifier);
+    QApplication::postEvent(this, event);
+  });
 }
 
 void OnroadWindow::updateState(const UIState &s) {
@@ -98,12 +105,33 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   // FrogPilot clickable widgets
   bool widgetClicked = false;
 
+  // If the click wasn't for anything specific, change the value of "ExperimentalMode"
+  if (scene.experimental_mode_via_screen && e->pos() != timeoutPoint) {
+    if (clickTimer.isActive()) {
+      clickTimer.stop();
+
+      if (scene.conditional_experimental) {
+        int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 6) ? 0 : scene.conditional_status >= 7 ? 1 : 2;
+        paramsMemory.putIntNonBlocking("CEStatus", override_value);
+      } else {
+        bool experimentalMode = params.getBool("ExperimentalMode");
+        params.putBoolNonBlocking("ExperimentalMode", !experimentalMode);
+      }
+
+    } else {
+      clickTimer.start(500);
+    }
+    widgetClicked = true;
+  }
+
 #ifdef ENABLE_MAPS
   if (map != nullptr && !widgetClicked) {
     // Switch between map and sidebar when using navigate on openpilot
     bool sidebarVisible = geometry().x() > 0;
     bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
-    map->setVisible(show_map && !map->isVisible());
+    if (!clickTimer.isActive()) {
+      map->setVisible(show_map && !map->isVisible());
+    }
   }
 #endif
   // propagation event to parent(HomeWindow)
@@ -234,9 +262,14 @@ void ExperimentalButton::changeMode() {
   Params paramsMemory = Params("/dev/shm/params");
 
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_screen);
   if (can_change) {
-    params.putBool("ExperimentalMode", !experimental_mode);
+    if (scene.conditional_experimental) {
+      int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 4) ? 0 : scene.conditional_status >= 5 ? 3 : 4;
+      paramsMemory.putIntNonBlocking("ConditionalStatus", override_value);
+    } else {
+      params.putBool("ExperimentalMode", !experimental_mode);
+    }
   }
 }
 
@@ -1136,15 +1169,17 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
     {2, "Experimental Mode manually activated"},
     {3, "Conditional Experimental overridden"},
     {4, "Experimental Mode manually activated"},
-    {5, "Experimental Mode activated for" + (mapOpen ? " intersection" : QString(" upcoming intersection"))},
-    {6, "Experimental Mode activated for" + (mapOpen ? " turn" : QString(" upcoming turn"))},
-    {7, "Experimental Mode activated due to" + (mapOpen ? "SLC" : QString(" no speed limit set"))},
-    {8, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeedLead) + (is_metric ? " kph" : " mph"))},
-    {9, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeed) + (is_metric ? " kph" : " mph"))},
-    {10, "Experimental Mode activated for slower lead"},
-    {11, "Experimental Mode activated for turn" + (mapOpen ? "" : QString(" / lane change"))},
-    {12, "Experimental Mode activated for curve"},
-    {13, "Experimental Mode activated for stop" + (mapOpen ? "" : QString(" sign / stop light"))},
+    {5, "Conditional Experimental overridden"},
+    {6, "Experimental Mode manually activated"},
+    {7, "Experimental Mode activated for" + (mapOpen ? " intersection" : QString(" upcoming intersection"))},
+    {8, "Experimental Mode activated for" + (mapOpen ? " turn" : QString(" upcoming turn"))},
+    {9, "Experimental Mode activated due to" + (mapOpen ? "SLC" : QString(" no speed limit set"))},
+    {10, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeedLead) + (is_metric ? " kph" : " mph"))},
+    {11, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeed) + (is_metric ? " kph" : " mph"))},
+    {12, "Experimental Mode activated for slower lead"},
+    {13, "Experimental Mode activated for turn" + (mapOpen ? "" : QString(" / lane change"))},
+    {14, "Experimental Mode activated for curve"},
+    {15, "Experimental Mode activated for stop" + (mapOpen ? "" : QString(" sign / stop light"))},
   };
 
   // Update status text
@@ -1154,6 +1189,21 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
     newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
   }
 
+  // Append suffix to the status
+  QString distanceSuffix = ". Long press the \"distance\" button to revert";
+  QString lkasSuffix = ". Double press the \"LKAS\" button to revert";
+  QString screenSuffix = ". Double tap the screen to revert";
+
+  if (!alwaysOnLateral && !mapOpen && status != STATUS_DISENGAGED && !newStatus.isEmpty()) {
+    if (conditionalStatus == 1 || conditionalStatus == 2) {
+      newStatus += screenSuffix;
+    } else if (conditionalStatus == 3 || conditionalStatus == 4) {
+      newStatus += distanceSuffix;
+    } else if (conditionalStatus == 5 || conditionalStatus == 6) {
+      newStatus += lkasSuffix;
+    }
+  }
+
   // Check if status has changed
   if (newStatus != lastShownStatus) {
     displayStatusText = true;
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 10656c2..dd29007 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -201,6 +201,9 @@ private:
   UIScene &scene;
   Params paramsMemory{"/dev/shm/params"};
 
+  QPoint timeoutPoint = QPoint(420, 69);
+  QTimer clickTimer;
+
 private slots:
   void offroadTransition(bool offroad);
   void primeChanged(bool prime);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 9f3a39f..0ff71b5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -306,6 +306,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0;
 
   scene.driver_camera = params.getBool("DriverCamera");
+  scene.experimental_mode_via_screen = params.getBool("ExperimentalModeViaScreen") && params.getBool("ExperimentalModeActivation");
 
   scene.model_ui = params.getBool("ModelUI");
   scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index c066723..e66f1c0 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -182,6 +182,7 @@ typedef struct UIScene {
   bool dynamic_path_width;
   bool enabled;
   bool experimental_mode;
+  bool experimental_mode_via_screen;
   bool lead_info;
   bool map_open;
   bool model_ui;