Increase max speed by 5 on short press

Added toggle to increase the value of the max speed by 5 instead of 1 and an additional function to enable/disable it by taping the "Max" speed icon in the onroad UI.

common/params.cc

@@ -297,6 +297,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
     {"RelaxedJerk", PERSISTENT},
+    {"ReverseCruise", PERSISTENT},
+    {"ReverseCruiseUI", PERSISTENT},
     {"RoadEdgesWidth", PERSISTENT},
     {"SilentMode", PERSISTENT},
     {"ShowCPU", PERSISTENT},

selfdrive/car/toyota/toyotacan.py

@@ -43,7 +43,7 @@ def create_accel_command(packer, accel, accel_raw, pcm_cancel, standstill_req, l
     "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
     "ACCEL_CMD_ALT":  accel_raw,  # raw accel command, pcm uses this to calculate a compensatory force
   }

selfdrive/controls/controlsd.py

@@ -606,7 +606,7 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
-    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
+    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.frogpilot_variables)
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -1062,6 +1062,7 @@ class Controls:
     self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3
 
     quality_of_life = self.params.get_bool("QOLControls")
+    self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
 
 def main():
   controls = Controls()

selfdrive/controls/lib/drive_helpers.py

@@ -52,13 +52,13 @@ class VCruiseHelper:
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
 
-  def update_v_cruise(self, CS, enabled, is_metric):
+  def update_v_cruise(self, CS, enabled, is_metric, frogpilot_variables):
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
       if not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric, frogpilot_variables)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -68,7 +68,7 @@ class VCruiseHelper:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
-  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
+  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, frogpilot_variables):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition
     if not enabled:
@@ -92,6 +92,10 @@ class VCruiseHelper:
           long_press = True
           break
 
+    # Reverse the long press value for reverse cruise increase
+    if frogpilot_variables.reverse_cruise_increase:
+      long_press = not long_press
+
     if button_type is None:
       return
 

selfdrive/frogpilot/ui/control_settings.cc

@@ -35,6 +35,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
     {"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
     {"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
+    {"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
   };
 
   for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -218,6 +219,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         }
       });
       toggle = qolToggle;
+    } else if (param == "ReverseCruise") {
+      std::vector<QString> reverseCruiseToggles{"ReverseCruiseUI"};
+      std::vector<QString> reverseCruiseNames{tr("Control Via UI")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, reverseCruiseToggles, reverseCruiseNames);
 
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);

selfdrive/frogpilot/ui/control_settings.h

@@ -42,7 +42,7 @@ private:
   std::set<QString> lateralTuneKeys = {"ForceAutoTune"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration"};
   std::set<QString> mtscKeys = {};
-  std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate"};
+  std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "ReverseCruise"};
   std::set<QString> speedLimitControllerKeys = {};
   std::set<QString> speedLimitControllerControlsKeys = {};
   std::set<QString> speedLimitControllerQOLKeys = {};

selfdrive/ui/qt/onroad.cc

@@ -105,15 +105,27 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   // FrogPilot clickable widgets
   bool widgetClicked = false;
 
+  // Change cruise control increments button
+  QRect maxSpeedRect(7, 25, 225, 225);
+  bool isMaxSpeedClicked = maxSpeedRect.contains(e->pos());
+
   // Hide speed button
   QRect hideSpeedRect(rect().center().x() - 175, 50, 350, 350);
   bool isSpeedClicked = hideSpeedRect.contains(e->pos());
 
-  if (isSpeedClicked && scene.hide_speed_ui) {
+  if (isMaxSpeedClicked || isSpeedClicked) {
+    if (isMaxSpeedClicked && scene.reverse_cruise_ui) {
+      bool currentReverseCruise = scene.reverse_cruise;
+
+      uiState()->scene.reverse_cruise = !currentReverseCruise;
+      params.putBoolNonBlocking("ReverseCruise", !currentReverseCruise);
+
+    } else if (isSpeedClicked && scene.hide_speed_ui) {
       bool currentHideSpeed = scene.hide_speed;
 
       uiState()->scene.hide_speed = !currentHideSpeed;
       params.putBoolNonBlocking("HideSpeed", !currentHideSpeed);
+    }
 
     widgetClicked = true;
   // If the click wasn't for anything specific, change the value of "ExperimentalMode"
@@ -483,7 +495,11 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
     int bottom_radius = has_eu_speed_limit ? 100 : 32;
 
     QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+    if (scene.reverse_cruise) {
+      p.setPen(QPen(QColor(0, 150, 255), 6));
+    } else {
       p.setPen(QPen(whiteColor(75), 6));
+    }
     p.setBrush(blackColor(166));
     drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 

selfdrive/ui/ui.cc

@@ -319,6 +319,8 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
 
   bool quality_of_life_controls = params.getBool("QOLControls");
+  scene.reverse_cruise = quality_of_life_controls && params.getBool("ReverseCruise");
+  scene.reverse_cruise_ui = scene.reverse_cruise && params.getBool("ReverseCruiseUI");
 
   bool quality_of_life_visuals = params.getBool("QOLVisuals");
   scene.full_map = quality_of_life_visuals && params.getBool("FullMap");

selfdrive/ui/ui.h

@@ -191,6 +191,8 @@ typedef struct UIScene {
   bool lead_info;
   bool map_open;
   bool model_ui;
+  bool reverse_cruise;
+  bool reverse_cruise_ui;
   bool show_driver_camera;
   bool turn_signal_left;
   bool turn_signal_right;