UI: show experimental long available to release users (#26910)

* UI: show experimental long available to release users

* more description

* cleanup

* hide toggle

* fix process replay

* clear param

* actually fix

common/params.cc

@@ -104,7 +104,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisablePowerDown", PERSISTENT},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
     {"DongleId", PERSISTENT},
@@ -134,6 +134,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsRhdDetected", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"LaikadEphemeris", PERSISTENT | DONT_LOG},

selfdrive/car/car_helpers.py

@@ -173,17 +173,15 @@ def fingerprint(logcan, sendcan, num_pandas):
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
-def get_car(logcan, sendcan, num_pandas=1):
+def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
     candidate = "mock"
 
-  experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled")
-
   CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/controls/controlsd.py

@@ -99,7 +99,8 @@ class Controls:
       get_one_can(self.can_sock)
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas)
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch()
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 
@@ -132,9 +133,6 @@ class Controls:
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if is_release_branch():
-      self.CP.experimentalLongitudinalAvailable = False
-
     # Write CarParams for radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
@@ -142,7 +140,7 @@ class Controls:
     put_nonblocking("CarParamsPersistent", cp_bytes)
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
+    if not self.CP.experimentalLongitudinalAvailable or is_release_branch():
       self.params.remove("ExperimentalLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")

selfdrive/manager/manager.py

@@ -20,7 +20,7 @@ from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from system.swaglog import cloudlog, add_file_handler
 from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
-                              terms_version, training_version, is_tested_branch
+                              terms_version, training_version, is_tested_branch, is_release_branch
 
 
 
@@ -76,6 +76,7 @@ def manager_init() -> None:
   params.put("GitBranch", get_short_branch(default=""))
   params.put("GitRemote", get_origin(default=""))
   params.put_bool("IsTestedBranch", is_tested_branch())
+  params.put_bool("IsReleaseBranch", is_release_branch())
 
   # set dongle id
   reg_res = register(show_spinner=True)

selfdrive/test/process_replay/process_replay.py

@@ -188,7 +188,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint):
     canmsgs = [msg for msg in msgs if msg.which() == 'can']
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    _, CP = get_car(can, sendcan)
+    _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
   Params().put("CarParams", CP.to_bytes())
 
 

selfdrive/ui/qt/offroad/settings.cc

@@ -132,16 +132,17 @@ void TogglesPanel::updateToggles() {
                                   .arg(tr("New Driving Visualization"))
                                   .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
 
+  const bool is_release = params.getBool("IsReleaseBranch");
   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()) {
+    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
       params.remove("ExperimentalLongitudinalEnabled");
     }
-    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable());
+    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
 
     const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
     const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled");
@@ -154,9 +155,18 @@ void TogglesPanel::updateToggles() {
       e2e_toggle->setEnabled(false);
       params.remove("ExperimentalMode");
 
-      const QString no_long = tr("Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control.");
-      const QString exp_long = tr("Enable experimental longitudinal control to allow experimental mode.");
-      e2e_toggle->setDescription("<b>" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "</b><br><br>" + e2e_description);
+      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
+
+      QString long_desc = unavailable + " " + \
+                          tr("openpilot longitudinal control may come in a future update.");
+      if (CP.getExperimentalLongitudinalAvailable()) {
+        if (is_release) {
+          long_desc = unavailable + " " + tr("An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
+        } else {
+          long_desc = tr("Enable experimental longitudinal control to allow Experimental mode.");
+        }
+      }
+      e2e_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
     }
 
     e2e_toggle->refresh();

selfdrive/ui/translations/main_de.ts

@@ -1044,12 +1044,20 @@ location set</source>
         <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt.</translation>
     </message>
     <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar, da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen.</translation>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_ja.ts

@@ -1017,14 +1017,6 @@ location set</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
         <translation>openpilotはこの車の場合、車に内蔵されているACCを標準で利用します。この機能を有効にすることで実験段階のopenpilotによるアクセル制御を利用できます。実験モードと合わせて利用することをお勧めします。</translation>
     </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>この車のACCがアクセル制御を行うため、実験モードを利用することができません。</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>実験段階のopenpilotによるアクセル制御を有効にしてください。</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。</translation>
@@ -1045,6 +1037,22 @@ location set</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_ko.ts

@@ -1017,14 +1017,6 @@ location set</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
         <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤을 사용하려면 이 옵션을 활성화하세요. 실험적 openpilot 롱컨트롤을 사용하는 경우 실험적 모드를 활성화 하세요.</translation>
     </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>차량의 기본 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량에서는 실험적 모드를 사용할수 없습니다.</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요.</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다</translation>
@@ -1045,6 +1037,22 @@ location set</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측상단에 표시됩니다.</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1021,14 +1021,6 @@ trabalho definido</translation>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
         <translation>Neste carro o penpilot por padrão utiliza o ACC nativo do veículo ao invés de controlar longitudinalmente. Ative isto para mudar para o controle longitudinal do openpilot. Ativar o Modo Experimental é recomendado quando em uso do controle longitudinal experimental do openpilot.</translation>
     </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>O Modo Experimental está atualmente indisponível para este carro, já que o ACC original do carro é usado para controle longitudinal.</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>Ative o controle longitudinal experimental para permitir o modo experimental.</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
@@ -1049,6 +1041,22 @@ trabalho definido</translation>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito.</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1015,14 +1015,6 @@ location set</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
         <translation>针对此车辆，openpilot默认使用车辆自带的ACC，而非openpilot的纵向控制。启用此选项将切换到openpilot纵向控制。当使用试验性的openpilot纵向控制时，建议同时启用试验模式。</translation>
     </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>启用试验性的纵向控制，以便允许使用试验模式。</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilot 默认 &lt;b&gt;轻松模式&lt;/b&gt;驾驶车辆。试验模式启用一些轻松模式之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
@@ -1043,6 +1035,22 @@ location set</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -1017,14 +1017,6 @@ location set</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
         <translation>在本車輛中，openpilot預設將使用原車內建的ACC系統，而非openpilot縱向控制。開啟此開關來啟用openpilot縱向控制，使用此選項時建議一併啟用實驗模式。</translation>
     </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>啟用實驗性縱向控制以使用實驗模式。</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilot 預設以 &lt;b&gt;輕鬆模式&lt;/b&gt; 駕駛。    實驗模式啟用了尚未準備好進入輕鬆模式的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
@@ -1045,6 +1037,22 @@ location set</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>