Traffic Mode

Added toggle to change the longitudinal behavior to be more focused on driving in traffic.

selfdrive/ui/qt/onroad.cc

@@ -493,6 +493,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
     (scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
     (scene.conditional_status == 1 ? QColor(255, 246, 0, 255) :
     (experimental_mode ? QColor(218, 111, 37, 241) :
+    (scene.traffic_mode && scene.traffic_mode_active ? QColor(201, 34, 49, 255) :
     (scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166)))))) :
     QColor(0, 0, 0, 166);
 
@@ -658,6 +659,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
       ), 6));
     } else if (scene.reverse_cruise) {
       p.setPen(QPen(QColor(0, 150, 255), 6));
+    } else if (trafficModeActive) {
+      p.setPen(QPen(redColor(255), 6));
     } else {
       p.setPen(QPen(whiteColor(75), 6));
     }
@@ -906,6 +909,10 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
     pe.setColorAt(0.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 1.0));
     pe.setColorAt(0.5, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.5));
     pe.setColorAt(1.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.1));
+  } else if (trafficModeActive) {
+    pe.setColorAt(0.0, QColor::fromHslF(355 / 360., 0.71, 0.46, 1.0));
+    pe.setColorAt(0.5, QColor::fromHslF(355 / 360., 0.71, 0.46, 0.5));
+    pe.setColorAt(1.0, QColor::fromHslF(355 / 360., 0.71, 0.46, 0.1));
   } else if (scene.navigate_on_openpilot) {
     pe.setColorAt(0.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 1.0));
     pe.setColorAt(0.5, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.5));
@@ -1347,6 +1354,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   slcSpeedLimitOffset = scene.speed_limit_offset * (is_metric ? MS_TO_KPH : MS_TO_MPH);
   useViennaSLCSign = scene.use_vienna_slc_sign;
 
+  trafficModeActive = scene.traffic_mode && scene.traffic_mode_active;
+
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
 
@@ -1602,7 +1611,7 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
   double currentAcceleration = std::round(scene.acceleration * 100) / 100;
   static double maxAcceleration = 0.0;
 
-  if (currentAcceleration > maxAcceleration && status == STATUS_ENGAGED) {
+  if (currentAcceleration > maxAcceleration && (status == STATUS_ENGAGED || status == STATUS_TRAFFIC_MODE_ACTIVE)) {
     maxAcceleration = currentAcceleration;
     isFiveSecondsPassed = false;
     timer.start();

selfdrive/ui/qt/onroad.h

@@ -229,6 +229,7 @@ private:
   bool showSLCOffset;
   bool slcOverridden;
   bool speedLimitController;
+  bool trafficModeActive;
   bool turnSignalLeft;
   bool turnSignalRight;
   bool useViennaSLCSign;

selfdrive/ui/ui.cc

@@ -349,6 +349,9 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.experimental_mode_via_screen = params.getBool("ExperimentalModeViaScreen") && params.getBool("ExperimentalModeActivation");
   scene.fahrenheit = params.getBool("Fahrenheit");
 
+  bool longitudinal_tune = params.getBool("LongitudinalTune");
+  scene.traffic_mode = longitudinal_tune && params.getBool("TrafficMode");
+
   scene.model_ui = params.getBool("ModelUI");
   scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
   scene.hide_lead_marker = scene.model_ui && params.getBool("HideLeadMarker");
@@ -401,7 +404,9 @@ void UIState::updateStatus() {
     if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else if (scene.always_on_lateral_active) {
-      status = STATUS_LATERAL_ACTIVE;
+      status = STATUS_ALWAYS_ON_LATERAL_ACTIVE;
+    } else if (scene.traffic_mode_active) {
+      status = STATUS_TRAFFIC_MODE_ACTIVE;
     } else {
       status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
@@ -469,15 +474,10 @@ void UIState::update() {
   }
 
   // FrogPilot live variables that need to be constantly checked
-  if (scene.conditional_experimental) {
-    scene.conditional_status = paramsMemory.getInt("CEStatus");
-  }
-  if (scene.holiday_themes) {
-    scene.current_holiday_theme = paramsMemory.getInt("CurrentHolidayTheme");
-  }
-  if (scene.random_events) {
-    scene.current_random_event = paramsMemory.getInt("CurrentRandomEvent");
-  }
+  scene.conditional_status = scene.conditional_experimental ? paramsMemory.getInt("CEStatus") : 0;
+  scene.current_holiday_theme = scene.holiday_themes ? paramsMemory.getInt("CurrentHolidayTheme") : 0;
+  scene.current_random_event = scene.random_events ? paramsMemory.getInt("CurrentRandomEvent") : 0;
+  scene.traffic_mode_active = scene.conditional_experimental && scene.enabled && paramsMemory.getBool("TrafficModeActive");
 }
 
 void UIState::setPrimeType(PrimeType type) {

selfdrive/ui/ui.h

@@ -113,7 +113,8 @@ typedef enum UIStatus {
   STATUS_ENGAGED,
 
   // FrogPilot statuses
-  STATUS_LATERAL_ACTIVE,
+  STATUS_ALWAYS_ON_LATERAL_ACTIVE,
+  STATUS_TRAFFIC_MODE_ACTIVE,
 } UIStatus;
 
 enum PrimeType {
@@ -132,7 +133,8 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 
   // FrogPilot colors
-  [STATUS_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
+  [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xf1),
 };
 
 static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
@@ -228,6 +230,8 @@ typedef struct UIScene {
   bool standstill;
   bool status_changed;
   bool tethering_enabled;
+  bool traffic_mode;
+  bool traffic_mode_active;
   bool turn_signal_left;
   bool turn_signal_right;
   bool unlimited_road_ui_length;