car: an experimental turn card on the instrument cluster, for cars with a cluster screen

gearslip/src/main/java/app/seb3thehacker/gearslip/ClusterVideo.kt

@@ -0,0 +1,164 @@
+package app.seb3thehacker.gearslip
+
+import android.content.Context
+import android.os.Handler
+import android.os.Looper
+import app.seb3thehacker.gearslip.car.ClusterScreen
+
+/**
+ * Gearslip's picture on the car's instrument-cluster screen: a second video sink, for a car that
+ * offers one, showing the turn card ([ClusterScreen]). The same exchange as the main screen's,
+ * on its own channel, with its own encoder and its own private display:
+ *
+ *   -> CHANNEL_OPEN_REQUEST   <- CHANNEL_OPEN_RESPONSE
+ *   -> Setup { H.264 }        <- Config { status, max_unacked, configuration_indices }
+ *   -> VideoFocusRequest      <- VideoFocusNotification { projected }
+ *   -> Start, CodecConfig, Data...   <- Ack
+ *
+ * No touch: a cluster has none. Experimental, behind [car.CarSettings.clusterVideoEnabled], and
+ * untested in a car: none in the notes has a cluster sink.
+ */
+internal class ClusterVideo(
+    private val context: Context,
+    private val service: ServiceDiscovery.VideoService,
+    private val send: (messageId: Int, body: ByteArray) -> Unit,
+) {
+    private val log = GearslipLog.tagged("CLUSTER")
+    private val main = Handler(Looper.getMainLooper())
+
+    val channelId get() = service.serviceId
+
+    private var configIndex = 0
+    @Volatile private var started = false
+    @Volatile private var running = true
+    @Volatile private var source: VideoSource? = null
+    private var projector: ScreenProjector? = null
+
+    private val ackLock = Object()
+    @Volatile private var inFlight = 0
+    @Volatile private var maxUnacked = 1
+    @Volatile private var lastAckAt = 0L
+    private var frames = 0
+
+    fun onMessage(messageId: Int, body: ByteArray) {
+        when (messageId) {
+            GearslipRunner.MSG_CHANNEL_OPEN_RESPONSE -> {
+                val status = Protobuf.readInt32Field(body, 1) ?: 0
+                log.i("<- ChannelOpenResponse: status=$status")
+                if (status != 0) return
+                send(GearslipRunner.MSG_MEDIA_SETUP, Protobuf.varintField(1, GearslipRunner.CODEC_H264_BP.toLong()))
+                log.i("-> Setup(codec=VIDEO_H264_BP)")
+            }
+
+            GearslipRunner.MSG_MEDIA_CONFIG -> {
+                val fields = Wire.fields(body)
+                Wire.varint(fields, 2)?.toInt()?.let { maxUnacked = maxOf(1, it) }
+                val offered = fields.filter { it.number == 3 && it.wireType == 0 }.map { it.varint.toInt() }
+                // The cluster gets the smallest picture it offers: a turn card needs no more.
+                configIndex = offered.minByOrNull { service.configs.getOrNull(it)?.pixelCount() ?: Int.MAX_VALUE } ?: 0
+                log.i("<- Config status=${Wire.varint(fields, 1)} max_unacked=$maxUnacked offered=$offered - using $configIndex")
+                val focus = Protobuf.varintField(2, GearslipRunner.VIDEO_FOCUS_PROJECTED.toLong()) + Protobuf.varintField(3, 1L)
+                send(GearslipRunner.MSG_VIDEO_FOCUS_REQUEST, focus)
+                log.i("-> VideoFocusRequest(mode=PROJECTED)")
+            }
+
+            GearslipRunner.MSG_VIDEO_FOCUS_NOTIFICATION -> {
+                val mode = Wire.varint(Wire.fields(body), 1)?.toInt() ?: GearslipRunner.VIDEO_FOCUS_PROJECTED
+                log.i("<- VideoFocusNotification: mode=$mode")
+                val projected = mode == GearslipRunner.VIDEO_FOCUS_PROJECTED || mode == GearslipRunner.VIDEO_FOCUS_PROJECTED_NO_INPUT
+                if (projected && !started) startStream()
+            }
+
+            GearslipRunner.MSG_MEDIA_ACK -> {
+                val acked = Wire.varint(Wire.fields(body), 2)?.toInt() ?: 1
+                synchronized(ackLock) {
+                    inFlight = maxOf(0, inFlight - maxOf(1, acked))
+                    lastAckAt = System.currentTimeMillis()
+                    ackLock.notifyAll()
+                }
+            }
+
+            else -> log.i("<- unhandled message id=$messageId (${body.size} bytes)")
+        }
+    }
+
+    private fun startStream() {
+        val config = service.configs.getOrNull(configIndex) ?: service.configs.firstOrNull() ?: return
+        val (width, height) = config.pixelSize() ?: run {
+            log.w("unsupported cluster resolution ${config.resolutionName}")
+            return
+        }
+        started = true
+        send(
+            GearslipRunner.MSG_MEDIA_START,
+            Protobuf.varintField(1, GearslipRunner.SESSION_ID.toLong()) + Protobuf.varintField(2, configIndex.toLong()),
+        )
+        log.i("-> Start(config=$configIndex -> $config)")
+        lastAckAt = System.currentTimeMillis()
+        val video = VideoSource(
+            width = width,
+            height = height,
+            frameRate = FRAME_RATE,
+            mode = VideoSource.Mode.SURFACE,
+            wireless = true, // a small share of the link: the main screen comes first
+            onCodecConfig = { csd ->
+                send(GearslipRunner.MSG_MEDIA_CODEC_CONFIG, csd)
+                log.i("-> CodecConfig (${csd.size} bytes)")
+            },
+            onFrame = { data, pts, _ -> sendFrame(data, pts) },
+        )
+        source = video
+        runCatching { video.start() }.onFailure {
+            log.e("cluster encoder failed to start", it)
+            return
+        }
+        val surface = video.inputSurface ?: return
+        val density = config.density.takeIf { it > 0 } ?: 160
+        main.post {
+            if (!running) return@post
+            projector = ScreenProjector(context).also {
+                it.start(surface, width, height, density, name = "gearslip-cluster") {
+                    // The margins the car crops off are kept clear, as on the main screen.
+                    ClusterScreen(config.widthMargin, config.heightMargin)
+                }
+            }
+        }
+    }
+
+    /** As on the main screen: wait for the car's acks rather than drop a frame. */
+    private fun sendFrame(data: ByteArray, presentationTimeUs: Long) {
+        synchronized(ackLock) {
+            while (running && inFlight >= maxUnacked) {
+                val since = System.currentTimeMillis() - lastAckAt
+                if (since > GearslipRunner.ACK_STALL_MS) {
+                    inFlight = 0
+                    lastAckAt = System.currentTimeMillis()
+                    break
+                }
+                ackLock.wait(GearslipRunner.ACK_STALL_MS - since + 1)
+            }
+        }
+        if (!running) return
+        val timestamp = ByteArray(8)
+        for (i in 0 until 8) timestamp[i] = ((presentationTimeUs shr ((7 - i) * 8)) and 0xFF).toByte()
+        synchronized(ackLock) { inFlight++ }
+        runCatching { send(GearslipRunner.MSG_MEDIA_DATA, timestamp + data) }.onFailure { running = false }
+        if (++frames <= 2) log.i("-> Data frame #$frames (${data.size} bytes)")
+    }
+
+    fun stop() {
+        running = false
+        synchronized(ackLock) { ackLock.notifyAll() }
+        main.post {
+            projector?.stop()
+            projector = null
+        }
+        source?.stop()
+        source = null
+    }
+
+    private companion object {
+        // A turn card changes a few times a minute; the encoder repeats the last frame between.
+        const val FRAME_RATE = 15
+    }
+}

gearslip/src/main/java/app/seb3thehacker/gearslip/GearslipRunner.kt

@@ -97,6 +97,7 @@ class GearslipRunner(
     @Volatile private var sensorChannelId: Int = -1
     @Volatile private var mediaStatus: CarMediaStatus? = null
     @Volatile private var phoneStatus: app.seb3thehacker.gearslip.call.CarPhoneStatus? = null
+    @Volatile private var clusterVideo: ClusterVideo? = null
     @Volatile private var clusterNav: ClusterNav? = null
     private var sensorTypes: List<Int> = emptyList()
     @Volatile private var audioLink: AudioLink? = null
@@ -194,6 +195,8 @@ class GearslipRunner(
         mediaStatus = null
         phoneStatus?.stop()
         phoneStatus = null
+        clusterVideo?.stop()
+        clusterVideo = null
         clusterNav?.stop()
         clusterNav = null
         lastSensorNight = null
@@ -243,6 +246,8 @@ class GearslipRunner(
                 mediaStatus?.onMessage(messageId, body)
             } else if (frame.channel == phoneStatus?.channelId) {
                 phoneStatus?.onMessage(messageId, body)
+            } else if (frame.channel == clusterVideo?.channelId) {
+                clusterVideo?.onMessage(messageId, body)
             } else if (frame.channel == guidanceLink?.channelId) {
                 guidanceLink?.onMessage(messageId, body)
             } else if (frame.channel == CarBluetooth.channelId) {
@@ -520,6 +525,7 @@ class GearslipRunner(
         startMicChannel(serviceDiscoveryResponse)
         startMediaStatusChannel(serviceDiscoveryResponse)
         startPhoneStatusChannel(serviceDiscoveryResponse)
+        startClusterVideo(serviceDiscoveryResponse)
         startClusterNavChannel(serviceDiscoveryResponse)
         startBluetooth(serviceDiscoveryResponse)
         startVendorChannel(serviceDiscoveryResponse)
@@ -636,6 +642,19 @@ class GearslipRunner(
         openChannel(channel)
     }
 
+    /** The turn card on the instrument cluster, for a car with a cluster screen: experimental, off by default. */
+    private fun startClusterVideo(serviceDiscoveryResponse: ByteArray) {
+        val sink = ServiceDiscovery.findClusterVideoService(serviceDiscoveryResponse) ?: return
+        log.i("cluster video sink: channel=${sink.serviceId} display=${sink.displayId} type=${sink.displayType}")
+        if (!CarSettings.experimentalFeaturesEnabled.value || !CarSettings.clusterVideoEnabled.value) {
+            log.i("cluster screen is off in the car's Settings (experimental) - leaving that sink alone")
+            return
+        }
+        val context = app.seb3thehacker.gearslip.car.CarEnvironment.appContext ?: return
+        clusterVideo = ClusterVideo(context, sink) { id, body -> send(id, body, encrypted = true, channel = sink.serviceId) }
+        openChannel(sink.serviceId)
+    }
+
     /** Calls, for the car's own screens: the cluster, the steering wheel display. */
     private fun startPhoneStatusChannel(serviceDiscoveryResponse: ByteArray) {
         val channel = ServiceDiscovery.findPhoneStatusChannel(serviceDiscoveryResponse) ?: run {
@@ -1480,7 +1499,7 @@ class GearslipRunner(
         }
     }
 
-    private companion object {
+    internal companion object {
         /** The stats window adaptive bitrate reads, matching the watchdog's sleep. */
         const val ADAPT_WINDOW_MS = 5_000L
 

gearslip/src/main/java/app/seb3thehacker/gearslip/ServiceDiscovery.kt

@@ -51,8 +51,17 @@ object ServiceDiscovery {
             "$resolutionName @ $frameRateName, density=$density, margin=${widthMargin}x$heightMargin"
     }
 
-    /** [displayId] is MediaSinkService field 6: 0, the default, is the main screen. */
-    class VideoService(val serviceId: Int, val codecType: Int, val configs: List<VideoConfig>, val displayId: Int = 0) {
+    /**
+     * [displayId] is MediaSinkService field 6: 0, the default, is the main screen. [displayType]
+     * is field 7 (0 main, 1 instrument cluster, 2 auxiliary), or null when the car leaves it out.
+     */
+    class VideoService(
+        val serviceId: Int,
+        val codecType: Int,
+        val configs: List<VideoConfig>,
+        val displayId: Int = 0,
+        val displayType: Int? = null,
+    ) {
         val codecName: String get() = CODECS[codecType] ?: "unknown($codecType)"
     }
 
@@ -283,6 +292,19 @@ object ServiceDiscovery {
         return sinks.firstOrNull { it.displayId == 0 } ?: sinks.firstOrNull()
     }
 
+    /**
+     * The instrument cluster's video sink: one marked as a cluster, or, from a car that marks
+     * none, a second sink beside the main screen's. Null when the car has no cluster screen.
+     */
+    fun findClusterVideoService(response: ByteArray): VideoService? {
+        val sinks = videoServices(response)
+        val main = findVideoService(response) ?: return null
+        return sinks.firstOrNull { it.displayType == DISPLAY_TYPE_CLUSTER && it.serviceId != main.serviceId }
+            ?: sinks.firstOrNull { it.displayType == null && it.serviceId != main.serviceId && it.displayId != main.displayId }
+    }
+
+    private const val DISPLAY_TYPE_CLUSTER = 1
+
     private fun videoServices(response: ByteArray): List<VideoService> = buildList {
         for (channel in Wire.allBytes(Wire.fields(response), 1)) {
             val service = Wire.fields(channel)
@@ -304,7 +326,7 @@ object ServiceDiscovery {
                     heightMargin = Wire.varint(f, 4)?.toInt() ?: 0,
                 )
             }
-            add(VideoService(id, codecType, configs, Wire.varint(sinkFields, 6)?.toInt() ?: 0))
+            add(VideoService(id, codecType, configs, Wire.varint(sinkFields, 6)?.toInt() ?: 0, Wire.varint(sinkFields, 7)?.toInt()))
         }
     }
 

gearslip/src/main/java/app/seb3thehacker/gearslip/car/CarEnvironment.kt

@@ -64,7 +64,9 @@ object CarEnvironment {
     }
 
     @Volatile private var sensorNight: Boolean? = null
-    private var appContext: Context? = null
+    /** Set once the car UI starts; the cluster screen draws with it too. */
+    var appContext: Context? = null
+        private set
     private var running = false
 
     private val handler = Handler(Looper.getMainLooper())

gearslip/src/main/java/app/seb3thehacker/gearslip/car/CarSettings.kt

@@ -75,6 +75,7 @@ private const val KEY_LOCATION_WARNING = "car_location_warning"
     private const val KEY_SYSTEM_SPEECH = "car_system_speech"
     private const val KEY_CAR_SENSORS = "car_sensors_enabled"
     private const val KEY_ADAPTIVE_VIDEO = "adaptive_video_enabled"
+private const val KEY_CLUSTER_VIDEO = "cluster_video_enabled"
     private const val KEY_DEBUG_BADGE = "debug_badge"
     private const val KEY_SEEN_SAFETY_WARNING = "car_seen_safety_warning"
     private const val KEY_UNITS = "car_units"
@@ -124,6 +125,7 @@ private const val KEY_LOCATION_WARNING = "car_location_warning"
     private val systemSpeechFlow = MutableStateFlow(false)
     private val carSensorsFlow = MutableStateFlow(false)
     private val adaptiveVideoFlow = MutableStateFlow(false)
+    private val clusterVideoFlow = MutableStateFlow(false)
     private val debugBadgeFlow = MutableStateFlow(true)
     private val seenSafetyWarningFlow = MutableStateFlow(false)
     private val unitsFlow = MutableStateFlow(Units.AUTO)
@@ -293,6 +295,13 @@ private const val KEY_LOCATION_WARNING = "car_location_warning"
      */
     val adaptiveVideoEnabled: StateFlow<Boolean> = adaptiveVideoFlow
 
+    /**
+     * Gearslip's turn card on a car's instrument-cluster screen, for a car that offers one as a
+     * second video sink. Applies only while [experimentalFeaturesEnabled] is on too, and from the
+     * next connection; untested in a car so far.
+     */
+    val clusterVideoEnabled: StateFlow<Boolean> = clusterVideoFlow
+
     /** Debug builds only: the car screen's DEBUG BUILD badge, which screenshots for the README leave out. */
     val debugBadge: StateFlow<Boolean> = debugBadgeFlow
 
@@ -348,6 +357,7 @@ private const val KEY_LOCATION_WARNING = "car_location_warning"
         systemSpeechFlow.value = AppSettings.getString(app, KEY_SYSTEM_SPEECH, "false") == "true"
         carSensorsFlow.value = AppSettings.getString(app, KEY_CAR_SENSORS, "false") == "true"
         adaptiveVideoFlow.value = AppSettings.getString(app, KEY_ADAPTIVE_VIDEO, "false") == "true"
+        clusterVideoFlow.value = AppSettings.getString(app, KEY_CLUSTER_VIDEO, "false") == "true"
         debugBadgeFlow.value = AppSettings.getString(app, KEY_DEBUG_BADGE, "true") == "true"
         seenSafetyWarningFlow.value = AppSettings.getString(app, KEY_SEEN_SAFETY_WARNING, "false") == "true"
         unitsFlow.value = runCatching {
@@ -466,6 +476,11 @@ private const val KEY_LOCATION_WARNING = "car_location_warning"
         AppSettings.putString(app, KEY_ADAPTIVE_VIDEO, on.toString())
     }
 
+    fun setClusterVideoEnabled(on: Boolean) {
+        clusterVideoFlow.value = on
+        AppSettings.putString(app, KEY_CLUSTER_VIDEO, on.toString())
+    }
+
     fun setCarSensorsEnabled(on: Boolean) {
         carSensorsFlow.value = on
         AppSettings.putString(app, KEY_CAR_SENSORS, on.toString())

gearslip/src/main/java/app/seb3thehacker/gearslip/car/CarSettingsScreen.kt

@@ -78,6 +78,7 @@ fun CarSettingsScreen() {
     val experimentalFeatures by CarSettings.experimentalFeaturesEnabled.collectAsState()
     val carSensors by CarSettings.carSensorsEnabled.collectAsState()
     val adaptiveVideo by CarSettings.adaptiveVideoEnabled.collectAsState()
+    val clusterVideo by CarSettings.clusterVideoEnabled.collectAsState()
     val systemSpeech by CarSettings.systemSpeech.collectAsState()
     val display by CarEnvironment.display.collectAsState()
     val vehicle by CarEnvironment.vehicle.collectAsState()
@@ -313,7 +314,7 @@ fun CarSettingsScreen() {
             }
 
             if (section == chosen && experimentalFeatures) item {
-                ExperimentalFeaturesList(carSensors, adaptiveVideo)
+                ExperimentalFeaturesList(carSensors, adaptiveVideo, clusterVideo)
             }
 
             if (section == chosen) item {
@@ -445,7 +446,7 @@ private fun <T> ChoiceButtons(options: List<Pair<T, String>>, selected: T, onSel
  * so the list reads fine whether there's one entry or several.
  */
 @Composable
-private fun ExperimentalFeaturesList(carSensors: Boolean, adaptiveVideo: Boolean) {
+private fun ExperimentalFeaturesList(carSensors: Boolean, adaptiveVideo: Boolean, clusterVideo: Boolean) {
     Column(
         Modifier.fillMaxWidth(),
         verticalArrangement = Arrangement.spacedBy(10.dp),
@@ -460,6 +461,11 @@ private fun ExperimentalFeaturesList(carSensors: Boolean, adaptiveVideo: Boolean
             description = stringResource(R.string.carset_adaptive_note),
             checked = adaptiveVideo,
         ) { CarSettings.setAdaptiveVideoEnabled(it) }
+        ExperimentalFeatureRow(
+            title = stringResource(R.string.car_cluster_video),
+            description = stringResource(R.string.car_cluster_video_note),
+            checked = clusterVideo,
+        ) { CarSettings.setClusterVideoEnabled(it) }
     }
 }
 

gearslip/src/main/java/app/seb3thehacker/gearslip/car/ClusterScreen.kt

@@ -0,0 +1,140 @@
+package app.seb3thehacker.gearslip.car
+
+import androidx.compose.foundation.background
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.BoxWithConstraints
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.Spacer
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.padding
+import androidx.compose.foundation.layout.size
+import androidx.compose.foundation.layout.width
+import androidx.compose.material3.LocalContentColor
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Text
+import androidx.compose.material3.darkColorScheme
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.CompositionLocalProvider
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.produceState
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.graphics.Color
+import androidx.compose.ui.platform.LocalDensity
+import androidx.compose.ui.text.font.FontWeight
+import androidx.compose.ui.text.style.TextOverflow
+import androidx.compose.ui.unit.dp
+import app.seb3thehacker.gearslip.host.clockTime
+import app.seb3thehacker.gearslip.host.display
+import app.seb3thehacker.gearslip.host.remainingTime
+import kotlinx.coroutines.delay
+
+/**
+ * The instrument-cluster screen: the next turn, big enough to read in a glance past the wheel.
+ * The arrow and the distance to it, what to do there, and the time, distance and arrival left
+ * along the bottom. With no route it shows what's playing, quietly, or nothing.
+ *
+ * Always dark, like the dials around it. [marginX] and [marginY] are the pixels the car crops off
+ * the frame, kept clear.
+ */
+@Composable
+internal fun ClusterScreen(marginX: Int, marginY: Int) {
+    // The map app's turn changes a few times a minute: read it once a second.
+    val turn by produceState<ClusterTurn?>(null) {
+        while (true) {
+            value = ClusterTurn.now()
+            delay(1_000)
+        }
+    }
+    val density = LocalDensity.current
+    MaterialTheme(colorScheme = darkColorScheme()) {
+        CompositionLocalProvider(LocalContentColor provides Color.White) {
+            BoxWithConstraints(
+                Modifier.fillMaxSize().background(Color.Black).padding(
+                    horizontal = with(density) { (marginX / 2).toDp() } + 24.dp,
+                    vertical = with(density) { (marginY / 2).toDp() } + 16.dp,
+                ),
+                contentAlignment = Alignment.CenterStart,
+            ) {
+                // Sized off the height: clusters run from short strips to near squares.
+                val unit = maxHeight / 12
+                val t = turn
+                if (t == null) {
+                    NowPlayingLine(Modifier.align(Alignment.Center))
+                    return@BoxWithConstraints
+                }
+                Column(verticalArrangement = Arrangement.spacedBy(unit * 0.4f)) {
+                    Row(verticalAlignment = Alignment.CenterVertically) {
+                        CarGlyph(t.icon, Modifier.size(unit * 3.4f))
+                        Spacer(Modifier.width(unit))
+                        Text(
+                            t.distance,
+                            fontSize = with(density) { (unit * 2.2f).toSp() },
+                            fontWeight = FontWeight.Bold,
+                            maxLines = 1,
+                        )
+                    }
+                    if (t.what.isNotEmpty()) {
+                        Text(
+                            t.what,
+                            fontSize = with(density) { (unit * 1.1f).toSp() },
+                            fontWeight = FontWeight.SemiBold,
+                            maxLines = 2,
+                            overflow = TextOverflow.Ellipsis,
+                        )
+                    }
+                    if (t.trip.isNotEmpty()) {
+                        Text(
+                            t.trip,
+                            fontSize = with(density) { (unit * 0.85f).toSp() },
+                            color = Color.White.copy(alpha = 0.7f),
+                            maxLines = 1,
+                        )
+                    }
+                }
+            }
+        }
+    }
+}
+
+@Composable
+private fun NowPlayingLine(modifier: Modifier) {
+    val now = CarServices.mediaOrNull()?.now?.value
+    if (now == null || now.title.isEmpty()) return
+    Text(
+        listOf(now.title, now.artist).filter { it.isNotEmpty() }.joinToString(" · "),
+        modifier,
+        style = MaterialTheme.typography.titleLarge,
+        color = Color.White.copy(alpha = 0.7f),
+        maxLines = 1,
+        overflow = TextOverflow.Ellipsis,
+    )
+}
+
+/** What the cluster shows of a route, read from [NavTurn] and the trip's estimate to the destination. */
+private class ClusterTurn(
+    val icon: androidx.car.app.model.CarIcon?,
+    val distance: String,
+    val what: String,
+    val trip: String,
+) {
+    companion object {
+        fun now(): ClusterTurn? {
+            val turn = NavTurn.current() ?: return null
+            if (turn.rerouting) return null
+            val step = turn.step
+            val cue = step.cue?.toString().orEmpty()
+            val what = cue.ifEmpty { step.road?.toString().orEmpty() }
+            val estimate = CarServices.navOrNull()?.trip?.value?.destinationTravelEstimates?.firstOrNull()
+            val trip = estimate?.let { e ->
+                listOf(
+                    e.remainingTimeSeconds.takeIf { it >= 0 }?.let { remainingTime(it) }.orEmpty(),
+                    e.remainingDistance.display(),
+                    e.arrivalTimeAtDestination.clockTime(),
+                ).filter { it.isNotEmpty() }.joinToString(" · ")
+            }.orEmpty()
+            return ClusterTurn(step.maneuver?.icon, turn.distance.display(), what, trip)
+        }
+    }
+}

gearslip/src/main/java/app/seb3thehacker/gearslip/ui/HomeCarSettings.kt

@@ -202,6 +202,7 @@ private fun GroupRows(group: CarGroup) {
     val experimental by CarSettings.experimentalFeaturesEnabled.collectAsState()
     val carSensors by CarSettings.carSensorsEnabled.collectAsState()
     val adaptiveVideo by CarSettings.adaptiveVideoEnabled.collectAsState()
+    val clusterVideo by CarSettings.clusterVideoEnabled.collectAsState()
 
     when (group) {
         CarGroup.SCREEN -> {
@@ -278,6 +279,13 @@ private fun GroupRows(group: CarGroup) {
                     CarSettings::setAdaptiveVideoEnabled,
                     note = stringResource(R.string.car_adaptive_video_note),
                 )
+                SettingsDivider()
+                Toggle(
+                    stringResource(R.string.car_cluster_video),
+                    clusterVideo,
+                    CarSettings::setClusterVideoEnabled,
+                    note = stringResource(R.string.car_cluster_video_note),
+                )
             }
         }
     }