Increase max speed by 5 on short press

Added function to increase the value of the max speed by 5 instead of 1 by taping the "Max" speed icon in the onroad UI.

common/params.cc

@@ -271,6 +271,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PathWidth", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
     {"RelaxedJerk", PERSISTENT},
+    {"ReverseCruise", PERSISTENT},
     {"RoadEdgesWidth", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},
     {"ShowCPU", PERSISTENT},

selfdrive/car/toyota/carcontroller.py

@@ -42,8 +42,10 @@ class CarController:
     self.accel = 0
 
     # FrogPilot variables
+    self.reverse_cruise_increase = False
 
   def update_frogpilot_variables(self, params):
+    self.reverse_cruise_increase = params.get_bool("ReverseCruise")
 
   def update(self, CC, CS, now_nanos, sport_plus):
     actuators = CC.actuators
@@ -149,10 +151,10 @@ class CarController:
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, self.reverse_cruise_increase))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.reverse_cruise_increase))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.

selfdrive/car/toyota/toyotacan.py

@@ -33,7 +33,7 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, reverse_cruise):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
@@ -43,7 +43,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,
-    "ALLOW_LONG_PRESS": 1,
+    "ALLOW_LONG_PRESS": 2 if reverse_cruise else 1,
     "ACC_CUT_IN": fcw_alert,  # only shown when ACC enabled
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)

selfdrive/controls/controlsd.py

@@ -513,7 +513,7 @@ 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.reverse_cruise_increase)
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -980,6 +980,8 @@ class Controls:
     longitudinal_tune = self.params.get_bool("LongitudinalTune")
     self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
 
+    self.reverse_cruise_increase = self.params.get_bool("ReverseCruise")
+
 def main():
   controls = Controls()
   controls.controlsd_thread()

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, reverse_cruise_increase):
     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, reverse_cruise_increase)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -68,13 +68,13 @@ 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, reverse_cruise_increase):
     # 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:
       return
 
-    long_press = False
+    long_press = reverse_cruise_increase
     button_type = None
 
     v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
@@ -89,7 +89,7 @@ class VCruiseHelper:
       for k in self.button_timers.keys():
         if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0:
           button_type = k
-          long_press = True
+          long_press = not reverse_cruise_increase
           break
 
     if button_type is None:

selfdrive/ui/qt/onroad.cc

@@ -106,13 +106,25 @@ 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 speedRect(rect().center().x() - 175, 50, 350, 350);
   bool isSpeedClicked = speedRect.contains(e->pos());
 
-  if (isSpeedClicked) {
+  if (isMaxSpeedClicked || isSpeedClicked) {
+    // Check if the click was within the max speed area
+    if (isMaxSpeedClicked) {
+      reverseCruise = !params.getBool("ReverseCruise");
+      params.putBoolNonBlocking("ReverseCruise", reverseCruise);
+      paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
+    // Check if the click was within the speed text area
+    } else {
       speedHidden = !params.getBool("HideSpeed");
       params.putBoolNonBlocking("HideSpeed", speedHidden);
+    }
     widgetClicked = true;
   // If the click wasn't for anything specific, change the value of "ExperimentalMode"
   } else if (scene.experimental_mode_via_press && e->pos() != timeoutPoint) {
@@ -500,7 +512,11 @@ 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 (reverseCruise) {
+    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);
 
@@ -1034,6 +1050,10 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
     speedHidden = true;
   }
 
+  if (params.getBool("ReverseCruise")) {
+    reverseCruise = true;
+  }
+
   // Custom themes configuration
   themeConfiguration = {
     {1, {QString("frog_theme"), {QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},

selfdrive/ui/qt/onroad.h

@@ -16,6 +16,7 @@ const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
 
 // FrogPilot global variables
+static bool reverseCruise;
 static bool speedHidden;
 static double fps;