Onroad/Offroad Button

Co-authored-by: 錢羅城

common/params.cc

@@ -235,6 +235,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"dp_device_dm_unavailable", PERSISTENT},
     {"dp_toyota_enhanced_bsm", PERSISTENT},
     {"dp_toyota_auto_brake_hold", PERSISTENT},
+    {"dp_device_offroad", CLEAR_ON_MANAGER_START},
 };
 
 } // namespace

selfdrive/ui/qt/offroad/settings.h

@@ -95,6 +95,8 @@ private:
   ButtonControl *installBtn;
   ButtonControl *downloadBtn;
   ButtonControl *targetBranchBtn;
+  // dp
+  ButtonControl *onOffBtn;
 
   Params params;
   ParamWatcher *fs_watch;

selfdrive/ui/qt/offroad/software_settings.cc

@@ -29,6 +29,16 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   versionLbl = new LabelControl(tr("Current Version"), "");
   addItem(versionLbl);
 
+  // dp on/off btn
+  onOffBtn = new ButtonControl(tr("Onroad/Offroad Mode"), tr("Go Offroad"));
+  connect(onOffBtn, &ButtonControl::clicked, [&]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to switch driving mode?"), tr("CONFIRM"), this)) {
+      bool val = params.getBool("dp_device_offroad");
+      params.putBool("dp_device_offroad", !val);
+    }
+  });
+  addItem(onOffBtn);
+
   // download update btn
   downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
   connect(downloadBtn, &ButtonControl::clicked, [=]() {
@@ -109,11 +119,19 @@ void SoftwarePanel::updateLabels() {
   fs_watch->addParam("UpdateFailedCount");
   fs_watch->addParam("UpdaterState");
   fs_watch->addParam("UpdateAvailable");
+  fs_watch->addParam("dp_device_offroad");
 
   if (!isVisible()) {
     return;
   }
 
+  // dp on/off btn
+  if (params.getBool("dp_device_offroad")) {
+    onOffBtn->setText(tr("Go Onroad"));
+  } else {
+    onOffBtn->setText(tr("Go Offroad"));
+  }
+
   // updater only runs offroad
   onroadLbl->setVisible(is_onroad);
   downloadBtn->setVisible(!is_onroad);

system/hardware/hardwared.py

@@ -338,7 +338,7 @@ def hardware_thread(end_event, hw_queue) -> None:
             pass
 
     # Handle offroad/onroad transition
-    should_start = all(onroad_conditions.values())
+    should_start = not params.get_bool("dp_device_offroad") and all(onroad_conditions.values())
     if started_ts is None:
       should_start = should_start and all(startup_conditions.values())