From 071e3bfc96ec99e8c1fa778ca85169c9b8f283ba Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Tue, 26 Mar 2024 23:02:03 -0700
Subject: [PATCH] Force auto tune

---
 common/params.cc                                      | 1 +
 selfdrive/controls/controlsd.py                       | 3 ++-
 selfdrive/frogpilot/ui/qt/offroad/control_settings.cc | 9 ++++++++-
 selfdrive/frogpilot/ui/qt/offroad/control_settings.h  | 2 +-
 4 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 5aaf9af57..9e5eaf84e 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -264,6 +264,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ExperimentalModeViaDistance", PERSISTENT},
     {"ExperimentalModeViaLKAS", PERSISTENT},
     {"ExperimentalModeViaTap", PERSISTENT},
+    {"ForceAutoTune", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
     {"GoatScream", PERSISTENT},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3fdb4abd6..9aeebd3c6 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -565,7 +565,7 @@ class Controls:
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
+      if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.force_auto_tune):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
@@ -940,6 +940,7 @@ class Controls:
     self.experimental_mode_via_lkas = experimental_mode_activation and self.params.get_bool("ExperimentalModeViaLKAS")
 
     lateral_tune = self.params.get_bool("LateralTune")
+    self.force_auto_tune = lateral_tune and self.params.get_float("ForceAutoTune")
 
     longitudinal_tune = self.CP.openpilotLongitudinalControl and self.params.get_bool("LongitudinalTune")
     self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3
diff --git a/selfdrive/frogpilot/ui/qt/offroad/control_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/control_settings.cc
index 5915cd61f..5a465b481 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/control_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/control_settings.cc
@@ -34,6 +34,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"ExperimentalModeViaDistance", tr("Long Pressing the Distance Button"), tr("Enable/disable 'Experimental Mode' by holding down the 'distance' button on your steering wheel for 0.5 seconds."), ""},
 
     {"LateralTune", tr("Lateral Tuning"), tr("Modify openpilot's steering behavior."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
+    {"ForceAutoTune", tr("Force Auto Tune"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""},
 
     {"LongitudinalTune", tr("Longitudinal Tuning"), tr("Modify openpilot's acceleration and braking behavior."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
     {"AccelerationProfile", tr("Acceleration Profile"), tr("Change the acceleration rate to be either sporty or eco-friendly."), ""},
@@ -182,7 +183,13 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
         openParentToggle();
         for (auto &[key, toggle] : toggles) {
-          toggle->setVisible(lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end());
+          std::set<QString> modifiedLateralTuneKeys = lateralTuneKeys;
+
+          if (hasAutoTune || params.getBool("NNFF")) {
+            modifiedLateralTuneKeys.erase("ForceAutoTune");
+          }
+
+          toggle->setVisible(modifiedLateralTuneKeys.find(key.c_str()) != modifiedLateralTuneKeys.end());
         }
       });
       toggle = lateralTuneToggle;
diff --git a/selfdrive/frogpilot/ui/qt/offroad/control_settings.h b/selfdrive/frogpilot/ui/qt/offroad/control_settings.h
index 47926e9ea..559f35ccc 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/control_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/control_settings.h
@@ -36,7 +36,7 @@ private:
   std::set<QString> deviceManagementKeys = {"DeviceShutdown", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "OfflineMode"};
   std::set<QString> experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaTap"};
   std::set<QString> laneChangeKeys = {};
-  std::set<QString> lateralTuneKeys = {};
+  std::set<QString> lateralTuneKeys = {"ForceAutoTune"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "DecelerationProfile"};
   std::set<QString> mtscKeys = {};
   std::set<QString> qolKeys = {"DisableOnroadUploads"};