Merge branch 'master' into adb-toggle-developer

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -37,6 +37,21 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(longManeuverToggle);
 
+  experimentalLongitudinalToggle = new ParamControl(
+    "ExperimentalLongitudinalEnabled",
+    tr("openpilot Longitudinal Control (Alpha)"),
+    QString("<b>%1</b><br><br>%2")
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+    ""
+  );
+  experimentalLongitudinalToggle->setConfirmation(true, false);
+  QObject::connect(experimentalLongitudinalToggle, &ParamControl::toggleFlipped, [=]() {
+    updateToggles(offroad);
+  });
+  addItem(experimentalLongitudinalToggle);
+
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -47,18 +62,40 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 void DeveloperPanel::updateToggles(bool _offroad) {
   for (auto btn : findChildren<ParamControl *>()) {
     btn->setVisible(!is_release);
-    btn->setEnabled(_offroad);
+
+    /*
+     * experimentalLongitudinalToggle should be toggelable when:
+     * - visible, and
+     * - during onroad & offroad states
+     */
+    if (btn != experimentalLongitudinalToggle) {
+      btn->setEnabled(_offroad);
+    }
   }
 
-  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control
   auto cp_bytes = params.get("CarParamsPersistent");
   if (!cp_bytes.empty()) {
     AlignedBuffer aligned_buf;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
+      params.remove("ExperimentalLongitudinalEnabled");
+      experimentalLongitudinalToggle->setEnabled(false);
+    }
+
+    /*
+     * experimentalLongitudinalToggle should be visible when:
+     * - is not a release branch, and
+     * - the car supports experimental longitudinal control (alpha)
+     */
+    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
   } else {
     longManeuverToggle->setEnabled(false);
+    experimentalLongitudinalToggle->setVisible(false);
   }
 
   offroad = _offroad;

selfdrive/ui/qt/offroad/settings.cc

@@ -24,15 +24,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
       "../assets/img_chffr_wheel.png",
     },
-    {
-      "ExperimentalLongitudinalEnabled",
-      tr("openpilot Longitudinal Control (Alpha)"),
-      QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
-      "../assets/offroad/icon_speed_limit.png",
-    },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
@@ -101,11 +92,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // Toggles with confirmation dialogs
   toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
   toggles["ExperimentalMode"]->setConfirmation(true, true);
-  toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
-
-  connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
-    updateToggles();
-  });
 }
 
 void TogglesPanel::updateState(const UIState &s) {
@@ -130,7 +116,6 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 
 void TogglesPanel::updateToggles() {
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
-  auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   const QString e2e_description = QString("%1<br>"
                                           "<h4>%2</h4><br>"
                                           "%3<br>"
@@ -151,10 +136,6 @@ void TogglesPanel::updateToggles() {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
-    }
-    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
       experimental_mode_toggle->setEnabled(true);
@@ -183,7 +164,6 @@ void TogglesPanel::updateToggles() {
     experimental_mode_toggle->refresh();
   } else {
     experimental_mode_toggle->setDescription(e2e_description);
-    op_long_toggle->setVisible(false);
   }
 }
 

selfdrive/ui/tests/test_ui/run.py

@@ -9,7 +9,7 @@
 import pickle
 import time
 
-from cereal import log
+from cereal import car, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal.messaging import PubMaster, log_from_bytes, sub_sock
 from openpilot.common.basedir import BASEDIR
@@ -51,6 +51,10 @@ def setup_settings_software(click, pm: PubMaster):
   time.sleep(UI_DELAY)
 
 def setup_settings_developer(click, pm: PubMaster):
+  CP = car.CarParams()
+  CP.experimentalLongitudinalAvailable = True
+  Params().put("CarParamsPersistent", CP.to_bytes())
+
   setup_settings_device(click, pm)
   click(278, 960)
   time.sleep(UI_DELAY)

system/updated/updated.py

@@ -172,7 +172,7 @@ def init_overlay() -> None:
   run(["sudo"] + mount_cmd)
   run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])
 
-  git_diff = run(["git", "diff"], OVERLAY_MERGED)
+  git_diff = run(["git", "diff", "--submodule=diff"], OVERLAY_MERGED)
   params.put("GitDiff", git_diff)
   cloudlog.info(f"git diff output:\n{git_diff}")