From 128a859fd16b241b6a348928cb167e48dbce779a Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sat, 29 Jun 2024 11:30:38 +0800
Subject: [PATCH] =?UTF-8?q?Onroad/Offroad=20Button=20Co-authored-by:=20?=
 =?UTF-8?q?=E9=8C=A2=E7=BE=85=E5=9F=8E?=
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---
 common/params.cc                             |  1 +
 selfdrive/ui/qt/offroad/settings.h           |  2 ++
 selfdrive/ui/qt/offroad/software_settings.cc | 18 ++++++++++++++++++
 system/hardware/hardwared.py                 |  2 +-
 4 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index a3538375c..db4b2598b 100644
--- a/common/params.cc
+++ b/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
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 35a044bdd..8d3bcc4f4 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/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;
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index c8245205c..549ae529b 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/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);
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 7ee664031..6976ba7ce 100755
--- a/system/hardware/hardwared.py
+++ b/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())