Custom steering wheel icons

Added toggle for custom steering wheel icons in the onroad UI.

Want to add your own steering wheel? Request one under "feature-requests" on the FrogPilot Discord!

common/params.cc

@@ -265,6 +265,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdateSchedule", PERSISTENT},
     {"UpdateTime", PERSISTENT},
     {"UseSI", PERSISTENT},
+    {"WheelIcon", PERSISTENT},
     {"WideCamera", PERSISTENT},
 };
 

selfdrive/frogpilot/ui/visual_settings.cc

@@ -20,6 +20,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"UnlimitedLength", "'Unlimited' Road UI Length", "Extend the display of the path, lane lines, and road edges as far as the system can detect, providing a more expansive view of the road ahead.", ""},
 
     {"ScreenBrightness", "Screen Brightness", "Customize your screen brightness.", "../frogpilot/assets/toggle_icons/icon_light.png"},
+    {"WheelIcon", "Steering Wheel Icon", "Replace the default steering wheel icon with a custom design, adding a unique touch to your interface.", "../assets/offroad/icon_openpilot.png"},
   };
 
   for (const auto &[param, title, desc, icon] : visualToggles) {
@@ -67,6 +68,12 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
       }
       toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 101, brightnessLabels, this, false);
 
+    } else if (param == "WheelIcon") {
+      std::vector<QString> wheelToggles{};
+      std::vector<QString> wheelToggleNames{};
+      std::map<int, QString> steeringWheelLabels = {{0, "Stock"}, {1, "Lexus"}, {2, "Toyota"}, {3, "Frog"}, {4, "Rocket"}, {5, "Hyundai"}, {6, "Stalin"}};
+      toggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, 0, 6, steeringWheelLabels, this, true, "", 1, wheelToggles, wheelToggleNames);
+
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);
     }

selfdrive/ui/qt/onroad.cc

@@ -286,6 +286,17 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+
+  // Custom steering wheel images
+  wheelImages = {
+    {0, loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size})},
+    {1, loadPixmap("../frogpilot/assets/wheel_images/lexus.png", {img_size, img_size})},
+    {2, loadPixmap("../frogpilot/assets/wheel_images/toyota.png", {img_size, img_size})},
+    {3, loadPixmap("../frogpilot/assets/wheel_images/frog.png", {img_size, img_size})},
+    {4, loadPixmap("../frogpilot/assets/wheel_images/rocket.png", {img_size, img_size})},
+    {5, loadPixmap("../frogpilot/assets/wheel_images/hyundai.png", {img_size, img_size})},
+    {6, loadPixmap("../frogpilot/assets/wheel_images/stalin.png", {img_size, img_size})}
+  };
 }
 
 void ExperimentalButton::changeMode() {
@@ -308,13 +319,25 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
   }
 
   // FrogPilot variables
+  wheelIcon = scene.wheel_icon;
+
   y_offset = leadInfo ? 10 : 0;
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  QPixmap img = experimental_mode ? experimental_img : engage_img;
+  // Custom steering wheel icon
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
+  engage_img = wheelImages[wheelIcon];
+  QPixmap img = wheelIcon ? engage_img : (experimental_mode ? experimental_img : engage_img);
+
+  QColor background_color = wheelIcon && !isDown() && engageable ?
+      (scene.conditional_status == 1 ? QColor(255, 246, 0, 255) :
+      (experimental_mode ? QColor(218, 111, 37, 241) :
+      (scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166)))) :
+      (scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
+      QColor(0, 0, 0, 166));
+
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
 }
 
 

selfdrive/ui/qt/onroad.h

@@ -57,6 +57,9 @@ private:
   // FrogPilot variables
   UIScene &scene;
 
+  std::map<int, QPixmap> wheelImages;
+
+  int wheelIcon;
   int y_offset;
 };
 

selfdrive/ui/ui.cc

@@ -294,6 +294,7 @@ void ui_update_params(UIState *s) {
   scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
 
   scene.screen_brightness = params.getInt("ScreenBrightness");
+  scene.wheel_icon = params.getInt("WheelIcon");
 }
 
 void UIState::updateStatus() {

selfdrive/ui/ui.h

@@ -200,6 +200,7 @@ typedef struct UIScene {
   int obstacle_distance_stock;
   int screen_brightness;
   int stopped_equivalence;
+  int wheel_icon;
   QPolygonF track_adjacent_vertices[6];
   QPolygonF track_edge_vertices;