Increase max speed by 5 for Toyota vehicles 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.

cereal/car.capnp

@@ -331,6 +331,7 @@ struct CarControl {
   rightBlinker @16: Bool;
 
   # FrogPilot CarControls
+  reverseCruise @18: Bool;
 
   # Any car specific rate limits or quirks applied by
   # the CarController are reflected in actuatorsOutput

common/params.cc

@@ -211,6 +211,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ReverseCruiseIncrease", PERSISTENT},
     {"RoadEdgesWidth", PERSISTENT},
     {"RotatingWheel", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},

selfdrive/car/toyota/carcontroller.py

@@ -133,10 +133,10 @@ def update(self, CC, CS, now_nanos):
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
+        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, CC.reverseCruise))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
+        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, CC.reverseCruise))
 
     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

@@ -27,7 +27,7 @@ def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, reverse_cruise):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
@@ -37,7 +37,7 @@ 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,
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)
 

selfdrive/controls/controlsd.py

@@ -122,6 +122,7 @@ def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
     # FrogPilot variables
     frog_theme = self.params.get_bool("FrogTheme")
     self.frog_sounds = frog_theme and self.params.get_bool("FrogSounds")
+    self.reverse_cruise_increase = self.params.get_bool("ReverseCruiseIncrease")
 
     # detect sound card presence and ensure successful init
     sounds_available = HARDWARE.get_sound_card_online()
@@ -591,6 +592,11 @@ def state_control(self, CS):
     CC = car.CarControl.new_message()
     CC.enabled = self.enabled
 
+    # Check the value of "reverse_cruise_increase" just in case the user changed its value mid drive
+    if long_plan.frogpilotTogglesUpdated:
+      self.reverse_cruise_increase = self.params.get_bool("ReverseCruiseIncrease")
+    CC.reverseCruise = self.reverse_cruise_increase
+
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \

selfdrive/ui/qt/onroad.cc

@@ -113,19 +113,30 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   const int x_offset = scene.mute_dm ? 50 : 250;
   bool rightHandDM = sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD();
 
+  // Change cruise control increments button
+  const QRect maxSpeedRect(0, 0, 350, 350);
+  const bool isMaxSpeedClicked = maxSpeedRect.contains(e->pos()) && isToyotaCar;
+
   // Hide speed button
   const QRect speedRect(rect().center().x() - 175, 50, 350, 350);
   const bool isSpeedClicked = speedRect.contains(e->pos());
 
+  // Check if the click was within the max speed area
+  if (isMaxSpeedClicked) {
+    const bool currentReverseCruiseIncrease = params.getBool("ReverseCruiseIncrease");
+    reverseCruiseIncrease = !currentReverseCruiseIncrease;
+    params.putBool("ReverseCruiseIncrease", reverseCruiseIncrease);
+    params_memory.putBool("FrogPilotTogglesUpdated", true);
+    propagateEvent = false;
   // Check if the click was within the speed text area
-  if (isSpeedClicked) {
+  } else if (isSpeedClicked) {
     const bool currentVisibility = params.getBool("HideSpeed");
     speedHidden = !currentVisibility;
     params.putBool("HideSpeed", speedHidden);
     propagateEvent = false;
   }
 
-  const bool clickedOnWidget = isSpeedClicked;
+  const bool clickedOnWidget = isMaxSpeedClicked || isSpeedClicked;
 
 #ifdef ENABLE_MAPS
   if (map != nullptr) {
@@ -333,6 +344,9 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   if (params.getBool("HideSpeed")) {
     speedHidden = true;
   }
+  if (params.getBool("ReverseCruiseIncrease")) {
+    reverseCruiseIncrease = true;
+  }
 
   // FrogPilot images
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@@ -452,7 +466,11 @@ 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);
-  p.setPen(QPen(whiteColor(75), 6));
+  if (reverseCruiseIncrease) {
+    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/qt/onroad.h

@@ -14,6 +14,7 @@ const int img_size = (btn_size / 4) * 3;
 
 // FrogPilot global variables
 static bool map_open;
+static bool reverseCruiseIncrease;
 static bool speedHidden;