RHD Fix

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

@@ -8,6 +8,8 @@ from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.layouts.settings.initial_cruise_speed import InitialCruiseSpeedControl
 from openpilot.starpilot.ui.slc_offset_feature import SlcOffsetOwner, native_parked
+from openpilot.starpilot.galaxy.localization_settings import LocalizationSettingsOwner
+from openpilot.starpilot.ui.feature_settings_state import FeatureSettingsRequest
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
@@ -38,6 +40,7 @@ class TogglesLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
+    self._localization = LocalizationSettingsOwner(self._params, lambda: True, lambda: native_parked(ui_state))
     self._slc_offsets = SlcOffsetOwner(self._params, lambda: native_parked(ui_state), lambda: ui_state.CP)
     self._metric_source = self._slc_offsets._raw("IsMetric")
     self._is_release = self._params.get_bool("IsReleaseBranch")
@@ -74,6 +77,12 @@ class TogglesLayout(Widget):
         "monitoring.png",
         False,
       ),
+      "IsRhdDetected": (
+        lambda: tr("Right Hand Driving"),
+        "Select the right-hand driver-monitoring side for the next drive. Off selects left-hand. Automatic side detection continues. Park and close driver camera preview before changing.",
+        "monitoring.png",
+        False,
+      ),
       "RecordFront": (
         lambda: tr("Record and Upload Cabin Camera"),
         DESCRIPTIONS["RecordFront"],
@@ -211,6 +220,9 @@ class TogglesLayout(Widget):
     for toggle_def in self._toggle_defs:
       if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
         self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)
+    row = self._localization.snapshot().rows[1]
+    self._rhd_source = row.source
+    self._toggles["IsRhdDetected"].action_item.set_enabled(row.available and "IsRhdDetected" not in self._locked_toggles)
 
   def _render(self, rect):
     self._scroller.render(rect)
@@ -221,6 +233,10 @@ class TogglesLayout(Widget):
 
 
   def _toggle_callback(self, state: bool, param: str):
+    if param == "IsRhdDetected":
+      ok = self._localization.apply(FeatureSettingsRequest(param, self._rhd_source, "On" if state else "Off"))
+      self._update_toggles()
+      return ok
     if param == "IsMetric":
       ok = self._slc_offsets.change_units(state, self._metric_source)
       self._toggles[param].action_item.set_state(self._params.get_bool(param))

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

@@ -7,6 +7,8 @@ from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callba
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.mici.layouts.settings.initial_cruise_speed import InitialCruiseSpeedButton
 from openpilot.starpilot.ui.slc_offset_feature import SlcOffsetOwner, native_parked
+from openpilot.starpilot.galaxy.localization_settings import LocalizationSettingsOwner
+from openpilot.starpilot.ui.feature_settings_state import FeatureSettingsRequest
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
@@ -18,6 +20,12 @@ class TogglesLayoutMici(NavScroller):
     super().__init__()
     self._slc_offsets = SlcOffsetOwner(ui_state.params, lambda: native_parked(ui_state), lambda: ui_state.CP)
     self._metric_source = self._slc_offsets._raw("IsMetric")
+    self._localization = LocalizationSettingsOwner(ui_state.params, lambda: True, lambda: native_parked(ui_state))
+    self._rhd_source = self._slc_offsets._raw("IsRhdDetected")
+    self._rhd_toggle = BigToggle("right hand driving", initial_state=ui_state.params.get_bool("IsRhdDetected"),
+                                 toggle_callback=self._on_rhd,
+                                 description="On selects right-hand; Off selects left-hand for the next drive. Automatic side detection continues.")
+    self._rhd_toggle.set_enabled(lambda: self._localization.snapshot().rows[1].available)
 
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"],
                                                    description="Standard is recommended.\n" +
@@ -60,6 +68,7 @@ class TogglesLayoutMici(NavScroller):
       is_metric_toggle,
       ldw_toggle,
       always_on_dm_toggle,
+      self._rhd_toggle,
       record_front,
       record_mic,
       enable_openpilot,
@@ -72,6 +81,7 @@ class TogglesLayoutMici(NavScroller):
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),
       ("AlwaysOnDM", always_on_dm_toggle),
+      ("IsRhdDetected", self._rhd_toggle),
       ("RecordFront", record_front),
       ("RecordAudio", record_mic),
       ("OpenpilotEnabledToggle", enable_openpilot),
@@ -131,6 +141,7 @@ class TogglesLayoutMici(NavScroller):
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
     self._metric_source = self._slc_offsets._raw("IsMetric")
+    self._rhd_source = self._slc_offsets._raw("IsRhdDetected")
 
   def _on_metric(self, desired: bool) -> None:
     self._slc_offsets.change_units(desired, self._metric_source)
@@ -138,6 +149,11 @@ class TogglesLayoutMici(NavScroller):
     self._metric_toggle.set_checked(ui_state.params.get_bool("IsMetric"))
     self._update_toggles()
 
+  def _on_rhd(self, desired: bool) -> None:
+    self._localization.apply(FeatureSettingsRequest("IsRhdDetected", self._rhd_source, "On" if desired else "Off"))
+    self._rhd_source = self._localization.snapshot().rows[1].source
+    self._rhd_toggle.set_checked(ui_state.params.get_bool("IsRhdDetected"))
+
   def _on_record_audio(self, desired: bool) -> None:
     # Keep filesystem waits off the UI thread, and persist the preference before
     # publishing the restart request through the same Params writer queue.

openpilot/starpilot/ui/runtime_app.py

@@ -1829,7 +1829,6 @@ class StarMainLayout(MainLayout):
     device_scroller._items.insert(1, device_scroller._items.pop())
     toggle_items = self._large_panels[Destination.TOGGLES]._scroller._items
     toggle_items.insert(2, text_item("Safe Mode", "N/A"))
-    toggle_items.insert(7, text_item("Right Hand Driving", "N/A"))
     from openpilot.common.hardware import HARDWARE
     from openpilot.starpilot.ui.starpilot_settings_adapter_large import StarPilotSettingsAdapterLarge
     for destination, owner in self._large_panels.items():
@@ -1941,7 +1940,7 @@ class StarMainLayout(MainLayout):
       return False
     param = {ToggleKey.ENABLED: "OpenpilotEnabledToggle", ToggleKey.EXPERIMENTAL: "ExperimentalMode",
              ToggleKey.DISENGAGE_ACCELERATOR: "DisengageOnAccelerator", ToggleKey.LANE_DEPARTURE: "IsLdwEnabled",
-             ToggleKey.ALWAYS_ON_DM: "AlwaysOnDM", ToggleKey.RECORD_FRONT: "RecordFront",
+             ToggleKey.ALWAYS_ON_DM: "AlwaysOnDM", ToggleKey.RIGHT_HAND_DRIVING: "IsRhdDetected", ToggleKey.RECORD_FRONT: "RecordFront",
              ToggleKey.RECORD_AUDIO: "RecordAudio", ToggleKey.METRIC: "IsMetric"}.get(request.key)
     return bool(param is not None and owner.request_toggle(param, request.value))
 

openpilot/starpilot/ui/runtime_snapshot.py

@@ -822,9 +822,12 @@ class RuntimeSnapshotAdapter:
     toggles = TogglesState(enabled=_flag(params, "OpenpilotEnabledToggle"),
                            experimental=experimental, disengage_accelerator=_flag(params, "DisengageOnAccelerator"),
                            lane_departure=_flag(params, "IsLdwEnabled"),
-                           always_on_dm=_flag(params, "AlwaysOnDM"), record_front=_flag(params, "RecordFront"),
+                           always_on_dm=_flag(params, "AlwaysOnDM"), right_hand_driving=_flag(params, "IsRhdDetected"),
+                           record_front=_flag(params, "RecordFront"),
                            record_audio=_flag(params, "RecordAudio"), metric=bool(ui.is_metric), personality=persona,
-                           unavailable=frozenset((ToggleKey.SAFE_MODE, ToggleKey.RIGHT_HAND_DRIVING)))
+                           unavailable=frozenset((ToggleKey.SAFE_MODE,)) | (
+                             frozenset() if confirmed_offroad and not _flag(params, "IsDriverViewEnabled") else
+                             frozenset((ToggleKey.RIGHT_HAND_DRIVING,))))
     snapshot = ShellSnapshot(mode, home, settings, onroad, device_state, software, toggles, selected)
     if mode == ShellMode.ONROAD:
       self._onroad_ancillary = (now_ns, ancillary_key, snapshot)

openpilot/starpilot/ui/tests/test_c4_toggles.py

@@ -62,6 +62,21 @@ 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_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)
+    for desired in (True, False):
+      self.panel._rhd_source = self.panel._localization.snapshot().rows[1].source
+      self.panel._on_rhd(desired)
+      self.assertEqual(self.params.get_bool('IsRhdDetected'), desired)
+      self.assertTrue(self.params.get_bool('OnroadCycleRequested'))
+      self.assertEqual(self.panel._rhd_toggle._checked, desired)
+    self.params.put_bool('OnroadCycleRequested', False, block=True)
+    self.params.put_bool('IsDriverViewEnabled', True, block=True)
+    self.panel._on_rhd(True)
+    self.assertFalse(self.params.get_bool('IsRhdDetected'))
+    self.assertFalse(self.params.get_bool('OnroadCycleRequested'))
+
   def test_release_queues_audio_before_restart_without_blocking_writes(self):
     with patch.object(self.params, "put_bool") as save:
       self.audio._handle_mouse_release(MousePos(0, 0))

openpilot/starpilot/ui/tests/test_native_settings.py

@@ -222,7 +222,8 @@ class NativeSettingsTests(unittest.TestCase):
     self.assertIs(layout._large_panels[Destination.SOFTWARE].panel, self.software)
     self.assertIs(layout._large_panels[Destination.TOGGLES].panel, toggles)
     self.assertEqual(toggles._scroller._items[2].title, 'Safe Mode')
-    self.assertEqual(toggles._scroller._items[7].title, 'Right Hand Driving')
+    self.assertFalse(any(item.title == 'Right Hand Driving' for item in toggles._scroller._items),
+                     'RHD belongs to the native toggle owner, not an inserted N/A placeholder')
     self.assertEqual(self.device._scroller._items[0].title, 'Galaxy')
     self.assertNotIn(self.device._power_off_btn, self.device._scroller._items)
     self.assertEqual(session.system_power_action, layout._system_power_action)

openpilot/starpilot/ui/tests/test_runtime_navigation.py

@@ -71,6 +71,26 @@ class TestCompactSettingsNavigation(unittest.TestCase):
 
 
 class TestExistingToggleOwner(unittest.TestCase):
+  def test_rhd_toggle_saves_through_shared_owner_and_requests_next_drive(self):
+    from openpilot.starpilot.galaxy.localization_settings import LocalizationSettingsOwner
+    with tempfile.TemporaryDirectory() as directory:
+      params = Params(directory)
+      owner = TogglesLayout.__new__(TogglesLayout)
+      owner._params = params
+      owner._localization = LocalizationSettingsOwner(params, lambda: True, lambda: True)
+      with patch.object(owner, '_update_toggles'):
+        for enabled in (True, False):
+          owner._rhd_source = owner._localization.snapshot().rows[1].source
+          self.assertTrue(owner._toggle_callback(enabled, 'IsRhdDetected'))
+          self.assertEqual(params.get_bool('IsRhdDetected'), enabled)
+          self.assertTrue(params.get_bool('OnroadCycleRequested'))
+          params.put_bool('OnroadCycleRequested', False, block=True)
+        params.put_bool('IsDriverViewEnabled', True, block=True)
+        owner._rhd_source = b'0'
+        self.assertFalse(owner._toggle_callback(True, 'IsRhdDetected'))
+        self.assertFalse(params.get_bool('IsRhdDetected'))
+        self.assertFalse(params.get_bool('OnroadCycleRequested'))
+
   def test_personality_no_op_uses_typed_integer_value(self):
     owner = TogglesLayout.__new__(TogglesLayout)
     owner._long_personality_setting = NS(action_item=NS(enabled=True))