Visuals - Developer UI - Longitudinal Metrics - Longitudinal Jerk

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -84,23 +84,29 @@ void OnroadWindow::updateState(const UIState &s) {
   // FrogPilot variables
   const UIScene &scene = s.scene;
 
+  accelerationJerk = scene.acceleration_jerk;
+  accelerationJerkDifference = scene.acceleration_jerk_difference;
   blindSpotLeft = scene.blind_spot_left;
   blindSpotRight = scene.blind_spot_right;
   fps = scene.fps;
   friction = scene.friction;
+  hasLead = scene.has_lead;
   latAccel = scene.lat_accel;
   liveValid = scene.live_valid;
   showBlindspot = scene.show_blind_spot && (blindSpotLeft || blindSpotRight);
   showFPS = scene.show_fps;
+  showJerk = scene.show_jerk;
   showSignal = scene.show_signal && (turnSignalLeft || turnSignalRight);
   showSteering = scene.show_steering;
   showTuning = scene.show_tuning;
+  speedJerk = scene.speed_jerk;
+  speedJerkDifference = scene.speed_jerk_difference;
   steer = scene.steer;
   steeringAngleDeg = scene.steering_angle_deg;
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
 
-  if (showBlindspot || showFPS || showSignal || showSteering || showTuning) {
+  if (showBlindspot || showFPS || (showJerk && hasLead) || showSignal || showSteering || showTuning) {
     shouldUpdate = true;
   }
 
@@ -331,12 +337,29 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
   }
 
   QString logicsDisplayString;
+  auto appendJerkInfo = [&](const QString &label, float value, float difference) {
+    logicsDisplayString += QString("%1: %2").arg(label).arg(value, 0, 'f', 3);
+    if (difference != 0) {
+      logicsDisplayString += QString(" (%1%2)").arg(difference > 0 ? "-" : "").arg(difference, 0, 'f', 3);
+    }
+    logicsDisplayString += " | ";
+  };
+
+  if (showJerk) {
+    appendJerkInfo("Acceleration Jerk", accelerationJerk, accelerationJerkDifference);
+    appendJerkInfo("Speed Jerk", speedJerk, speedJerkDifference);
+  }
+
   if (showTuning) {
     logicsDisplayString += liveValid
         ? QString("Friction: %1 | Lateral Acceleration: %2").arg(friction, 0, 'f', 3).arg(latAccel, 0, 'f', 3)
         : "Friction: Calculating... | Lateral Acceleration: Calculating...";
   }
 
+  if (logicsDisplayString.endsWith(" | ")) {
+    logicsDisplayString.chop(3);
+  }
+
   if (!logicsDisplayString.isEmpty()) {
     p.setFont(InterFont(28, QFont::DemiBold));
     p.setRenderHint(QPainter::TextAntialiasing);
@@ -354,7 +377,13 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
       for (int i = 0; i < subParts.size(); ++i) {
         QString text = subParts[i];
 
-        if (text.startsWith("(") && i > 0) {
+        if (text.endsWith(")") && i > 0 && (subParts[i - 1].contains("Acceleration") || subParts[i - 1].contains("Speed"))) {
+          QString prefix = subParts[i - 1] + " (";
+          p.drawText(currentX, logicsY, prefix);
+          currentX += p.fontMetrics().horizontalAdvance(prefix);
+          text.chop(1);
+          p.setPen(text.contains("-") ? redColor() : Qt::white);
+        } else if (text.startsWith("(") && i > 0) {
           p.drawText(currentX, logicsY, " (");
           currentX += p.fontMetrics().horizontalAdvance(" (");
           text = text.mid(1);

selfdrive/ui/qt/onroad/onroad_home.h

@@ -27,18 +27,24 @@ private:
   // FrogPilot variables
   bool blindSpotLeft;
   bool blindSpotRight;
+  bool hasLead;
   bool liveValid;
   bool showBlindspot;
   bool showFPS;
+  bool showJerk;
   bool showSignal;
   bool showSteering;
   bool showTuning;
   bool turnSignalLeft;
   bool turnSignalRight;
 
+  float accelerationJerk;
+  float accelerationJerkDifference;
   float fps;
   float friction;
   float latAccel;
+  float speedJerk;
+  float speedJerkDifference;
   float steer;
 
   int steeringAngleDeg;
@@ -47,6 +53,8 @@ private:
 
   QTimer clickTimer;
 
+  inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
+
   Params params;
   Params paramsMemory{"/dev/shm/params"};
 

selfdrive/ui/ui.cc

@@ -253,6 +253,8 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotPlan")) {
     auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
+    scene.acceleration_jerk = frogpilotPlan.getAccelerationJerk();
+    scene.acceleration_jerk_difference = frogpilotPlan.getAccelerationJerkStock() - scene.acceleration_jerk;
     scene.adjusted_cruise = frogpilotPlan.getAdjustedCruise();
     scene.desired_follow = frogpilotPlan.getDesiredFollowDistance();
     scene.lane_width_left = frogpilotPlan.getLaneWidthLeft();
@@ -260,6 +262,8 @@ static void update_state(UIState *s) {
     scene.obstacle_distance = frogpilotPlan.getSafeObstacleDistance();
     scene.obstacle_distance_stock = frogpilotPlan.getSafeObstacleDistanceStock();
     scene.red_light = frogpilotPlan.getRedLight();
+    scene.speed_jerk = frogpilotPlan.getSpeedJerk();
+    scene.speed_jerk_difference = frogpilotPlan.getSpeedJerkStock() - scene.speed_jerk;
     scene.speed_limit = frogpilotPlan.getSlcSpeedLimit();
     scene.speed_limit_offset = frogpilotPlan.getSlcSpeedLimitOffset();
     scene.speed_limit_overridden = frogpilotPlan.getSlcOverridden();
@@ -357,6 +361,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.show_tuning = show_lateral && scene.has_auto_tune && params.getBool("TuningInfo");
   bool show_longitudinal = scene.longitudinal_control && developer_ui && params.getBool("LongitudinalMetrics");
   scene.lead_info = show_longitudinal && params.getBool("LeadInfo");
+  scene.show_jerk = show_longitudinal && params.getBool("JerkInfo");
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
   scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");

selfdrive/ui/ui.h

@@ -161,6 +161,7 @@ typedef struct UIScene {
   bool show_blind_spot;
   bool show_cem_status_bar;
   bool show_fps;
+  bool show_jerk;
   bool show_signal;
   bool show_slc_offset;
   bool show_slc_offset_ui;
@@ -185,6 +186,8 @@ typedef struct UIScene {
   double fps;
 
   float acceleration;
+  float acceleration_jerk;
+  float acceleration_jerk_difference;
   float adjusted_cruise;
   float friction;
   float lane_detection_width;
@@ -192,6 +195,8 @@ typedef struct UIScene {
   float lane_width_right;
   float lat_accel;
   float lead_detection_threshold;
+  float speed_jerk;
+  float speed_jerk_difference;
   float speed_limit;
   float speed_limit_offset;
   float speed_limit_overridden_speed;