Switch personalities via steering wheel / onroad UI

Added toggle to switch between the personalities via the steering wheel for GM/Toyota/Volkswagen vehicles and an onroad button for other makes.

Co-Authored-By: henryccy <104284652+henryccy@users.noreply.github.com>
Co-Authored-By: Jason Jackrel <23621790+thinkpad4by3@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: Kevin Robert Keegan <3046315+krkeegan@users.noreply.github.com>
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>

selfdrive/ui/qt/offroad/settings.cc

@@ -110,7 +110,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     toggles[param.toStdString()] = toggle;
 
     // insert longitudinal personality after NDOG toggle
-    if (param == "DisengageOnAccelerator") {
+    if (param == "DisengageOnAccelerator" && !params.getInt("AdjustablePersonalities")) {
       addItem(long_personality_setting);
     }
   }

selfdrive/ui/qt/onroad.cc

@@ -879,6 +879,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   int offset = UI_BORDER_SIZE + btn_size / 2;
   offset += alwaysOnLateral || conditionalExperimental || roadNameUI ? 25 : 0;
   int x = rightHandDM ? width() - offset : offset;
+  x += onroadAdjustableProfiles ? 250 : 0;
   int y = height() - offset;
   float opacity = dmActive ? 0.65 : 0.2;
   drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
@@ -1110,6 +1111,9 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
 
   bottom_layout = new QHBoxLayout();
 
+  personality_btn = new PersonalityButton(this);
+  bottom_layout->addWidget(personality_btn);
+
   QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
   bottom_layout->addItem(spacer);
 
@@ -1185,6 +1189,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   muteDM = scene.mute_dm;
   obstacleDistance = scene.obstacle_distance;
   obstacleDistanceStock = scene.obstacle_distance_stock;
+  onroadAdjustableProfiles = scene.personalities_via_screen;
   roadNameUI = scene.road_name_ui;
   showDriverCamera = scene.show_driver_camera;
   slcOverridden = scene.speed_limit_overridden;
@@ -1225,6 +1230,15 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
     bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight));
   }
 
+  const bool enablePersonalityButton = onroadAdjustableProfiles && !hideBottomIcons;
+  personality_btn->setVisible(enablePersonalityButton);
+  if (enablePersonalityButton) {
+    if (paramsMemory.getBool("PersonalityChangedViaWheel")) {
+      personality_btn->checkUpdate();
+    }
+    bottom_layout->setAlignment(personality_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
+  }
+
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {
     map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
@@ -1470,6 +1484,79 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
   p.restore();
 }
 
+PersonalityButton::PersonalityButton(QWidget *parent) : QPushButton(parent), scene(uiState()->scene) {
+  setFixedSize(btn_size * 1.5, btn_size * 1.5);
+
+  // Configure the profile vector
+  profile_data = {
+    {QPixmap("../frogpilot/assets/other_images/aggressive.png"), "Aggressive"},
+    {QPixmap("../frogpilot/assets/other_images/standard.png"), "Standard"},
+    {QPixmap("../frogpilot/assets/other_images/relaxed.png"), "Relaxed"}
+  };
+
+  // Start the timer as soon as the button is created
+  transitionTimer.start();
+
+  // Initialize the click event
+  connect(this, &QPushButton::clicked, this, &PersonalityButton::handleClick);
+
+  personalityProfile = params.getInt("LongitudinalPersonality");
+  setVisible(scene.personalities_via_screen);
+}
+
+void PersonalityButton::checkUpdate() {
+  // Sync with the steering wheel button
+  personalityProfile = params.getInt("LongitudinalPersonality");
+  updateState();
+  paramsMemory.putBool("PersonalityChangedViaWheel", false);
+}
+
+void PersonalityButton::handleClick() {
+  int mapping[] = {2, 0, 1};
+  personalityProfile = mapping[personalityProfile];
+
+  params.putInt("LongitudinalPersonality", personalityProfile);
+  paramsMemory.putBool("PersonalityChangedViaUI", true);
+
+  updateState();
+}
+
+void PersonalityButton::updateState() {
+  // Start the transition
+  transitionTimer.restart();
+}
+
+void PersonalityButton::paintEvent(QPaintEvent *) {
+  // Declare the constants
+  constexpr qreal fadeDuration = 1000.0;  // 1 second
+  constexpr qreal textDuration = 3000.0;  // 3 seconds
+
+  QPainter p(this);
+  int elapsed = transitionTimer.elapsed();
+  qreal textOpacity = qBound(0.0, 1.0 - ((elapsed - textDuration) / fadeDuration), 1.0);
+  qreal imageOpacity = qBound(0.0, (elapsed - textDuration) / fadeDuration, 1.0);
+
+  // Enable Antialiasing
+  p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
+
+  // Configure the button
+  const auto &[profile_image, profile_text] = profile_data[personalityProfile];
+  QRect rect(0, 0, width(), height() + 95);
+
+  // Draw the profile text with the calculated opacity
+  if (textOpacity > 0.0) {
+    p.setOpacity(textOpacity);
+    p.setFont(InterFont(40, QFont::Bold));
+    p.setPen(Qt::white);
+    p.drawText(rect, Qt::AlignCenter, profile_text);
+  }
+
+  // Draw the profile image with the calculated opacity
+  if (imageOpacity > 0.0) {
+    drawIcon(p, QPoint((btn_size / 2) * 1.25, btn_size / 2 + 95), profile_image, Qt::transparent, imageOpacity);
+  }
+}
+
 void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.save();
 

selfdrive/ui/qt/onroad.h

@@ -104,6 +104,30 @@ private:
   QPixmap settings_img;
 };
 
+// FrogPilot buttons
+class PersonalityButton : public QPushButton {
+public:
+  explicit PersonalityButton(QWidget *parent = 0);
+
+  void checkUpdate();
+  void handleClick();
+  void updateState();
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+
+  UIScene &scene;
+
+  int personalityProfile = 0;
+
+  QElapsedTimer transitionTimer;
+
+  QVector<std::pair<QPixmap, QString>> profile_data;
+};
+
 // container window for the NVG UI
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
@@ -153,6 +177,7 @@ private:
   UIScene &scene;
 
   Compass *compass_img;
+  PersonalityButton *personality_btn;
   ScreenRecorder *recorder_btn;
 
   QHBoxLayout *bottom_layout;
@@ -168,6 +193,7 @@ private:
   bool leadInfo;
   bool mapOpen;
   bool muteDM;
+  bool onroadAdjustableProfiles;
   bool roadNameUI;
   bool showDriverCamera;
   bool slcOverridden;

selfdrive/ui/ui.cc

@@ -325,6 +325,7 @@ void ui_update_params(UIState *s) {
   scene.driver_camera = params.getBool("DriverCamera");
   scene.experimental_mode_via_press = params.getBool("ExperimentalModeViaPress");
   scene.mute_dm = params.getBool("FireTheBabysitter") && params.getBool("MuteDM");
+  scene.personalities_via_screen = (params.getInt("AdjustablePersonalities") == 2 || params.getInt("AdjustablePersonalities") == 3);
   scene.rotating_wheel = params.getBool("RotatingWheel");
   scene.screen_brightness = params.getInt("ScreenBrightness");
   scene.speed_limit_controller = params.getBool("SpeedLimitController");

selfdrive/ui/ui.h

@@ -189,6 +189,7 @@ typedef struct UIScene {
   bool map_open;
   bool model_ui;
   bool mute_dm;
+  bool personalities_via_screen;
   bool road_name_ui;
   bool rotating_wheel;
   bool show_driver_camera;