Add compact ui DisengageOnAccelerator

openpilot/selfdrive/ui/mici/layouts/settings/toggles.py

@@ -40,6 +40,8 @@ class TogglesLayoutMici(NavScroller):
                                                    "Set speed is a maximum, not a target.\n" +
                                                    "These are alpha features. Expect mistakes.\n" +
                                                    "The path colors show acceleration and braking.")
+    disengage_on_accelerator = BigParamControl("disengage on accelerator", "DisengageOnAccelerator",
+                                              description="When enabled, pressing the accelerator pedal will disengage openpilot.")
     self._initial_cruise_speed = InitialCruiseSpeedButton()
     self._initial_cruise_speed.set_visible(lambda: ui_state.CP is not None and ui_state.has_longitudinal_control and not ui_state.CP.pcmCruise)
     is_metric_toggle = BigToggle("use metric units", initial_state=ui_state.params.get_bool("IsMetric"),
@@ -64,6 +66,7 @@ class TogglesLayoutMici(NavScroller):
       self._personality_toggle,
       self._safe_mode_btn,
       self._experimental_btn,
+      disengage_on_accelerator,
       self._initial_cruise_speed,
       is_metric_toggle,
       ldw_toggle,
@@ -78,6 +81,7 @@ class TogglesLayoutMici(NavScroller):
     self._refresh_toggles = (
       ("SafeMode", self._safe_mode_btn),
       ("ExperimentalMode", self._experimental_btn),
+      ("DisengageOnAccelerator", disengage_on_accelerator),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),
       ("AlwaysOnDM", always_on_dm_toggle),

openpilot/selfdrive/ui/tests/test_mici_button_layout.py

@@ -42,6 +42,7 @@ def drawn(monkeypatch):
   lambda: button.BigButton("long branch name that needs to scroll", "installed", scroll=True),
   lambda: button.BigButton("network", "connected", SimpleNamespace(width=76, height=56)),
   lambda: button.BigToggle("enable controls", "Off"),
+  lambda: button.BigToggle("disengage on accelerator"),
   lambda: button.BigMultiToggle("controller", ["Default", "Custom"]),
   lambda: button.GreyBigButton("saved settings", "unavailable while driving"),
   lambda: button.GreyBigButton("", "A full explanation that must retain enough room for several lines of readable text."),

openpilot/starpilot/ui/tests/test_c4_toggles.py

@@ -45,7 +45,7 @@ class TestC4SafeMode(unittest.TestCase):
       panel._personality_toggle.set_value.assert_called_once_with("relaxed")
 
 
-class TestC4AudioToggle(unittest.TestCase):
+class TestC4Toggles(unittest.TestCase):
   def setUp(self):
     directory = tempfile.TemporaryDirectory()
     self.addCleanup(directory.cleanup)
@@ -62,6 +62,29 @@ class TestC4AudioToggle(unittest.TestCase):
     self.panel = toggles.TogglesLayoutMici()
     self.audio = next(item for key, item in self.panel._refresh_toggles if key == "RecordAudio")
 
+  def test_accelerator_toggle_saves_shared_param_without_restart(self):
+    accelerator = dict(self.panel._refresh_toggles)["DisengageOnAccelerator"]
+    self.assertIn(accelerator, self.panel._scroller.items)
+    self.assertFalse(accelerator._checked)
+    for desired in (True, False):
+      with patch.object(self.params, "put_bool", wraps=self.params.put_bool) as save:
+        accelerator._handle_mouse_release(MousePos(0, 0))
+      save.assert_called_once_with("DisengageOnAccelerator", desired, block=True)
+      self.assertEqual(self.params.get_bool("DisengageOnAccelerator"), desired)
+      self.assertEqual(accelerator._checked, desired)
+    self.assertFalse(self.params.get_bool("OnroadCycleRequested"))
+
+  def test_accelerator_toggle_loads_and_refreshes_saved_value(self):
+    self.params.put_bool("DisengageOnAccelerator", True, block=True)
+    panel = toggles.TogglesLayoutMici()
+    accelerator = dict(panel._refresh_toggles)["DisengageOnAccelerator"]
+    self.assertTrue(accelerator._checked)
+    self.params.put_bool("DisengageOnAccelerator", False, block=True)
+    panel._update_toggles()
+    self.assertFalse(accelerator._checked)
+    self.ui.engaged = True
+    self.assertTrue(accelerator.enabled)
+
   def test_rhd_control_saves_shared_param_and_rejects_open_preview(self):
     from openpilot.starpilot.galaxy.localization_settings import LocalizationSettingsOwner
     self.panel._localization = LocalizationSettingsOwner(self.params, lambda: True, lambda: True)