Remove laneless toggle (#24738)

* Remove laneless toggle

* Update refs

common/params.cc

@@ -104,7 +104,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"EndToEndToggle", PERSISTENT},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},

selfdrive/controls/plannerd.py

@@ -16,7 +16,7 @@ def plannerd_thread(sm=None, pm=None):
   CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  use_lanelines = not params.get_bool('EndToEndToggle')
+  use_lanelines = False
   wide_camera = params.get_bool('WideCameraOnly')
 
   cloudlog.event("e2e mode", on=use_lanelines)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-49e231ccf06ef35994a3ec907af959c28e3c0870
+3636d7168bc67916eb3cb856cce4166c520fdfb0

selfdrive/ui/qt/offroad/settings.cc

@@ -57,12 +57,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
       "../assets/offroad/icon_monitoring.png",
     },
-    {
-      "EndToEndToggle",
-      "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
-      "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
-      "../assets/offroad/icon_road.png",
-    },
     {
       "DisengageOnAccelerator",
       "Disengage On Accelerator Pedal",

selfdrive/ui/qt/onroad.cc

@@ -311,24 +311,19 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // paint path
   QLinearGradient bg(0, height(), 0, height() / 4);
-  if (scene.end_to_end) {
-    const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
-    float orientation_future = 0;
-    if (orientation.getZ().size() > 16) {
-      orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
-    }
-    // straight: 112, in turns: 70
-    float curve_hue = fmax(70, 112 - (orientation_future * 420));
-    // FIXME: painter.drawPolygon can be slow if hue is not rounded
-    curve_hue = int(curve_hue * 100 + 0.5) / 100;
-
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
-  } else {
-    bg.setColorAt(0, whiteColor());
-    bg.setColorAt(1, whiteColor(0));
+  const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
+  float orientation_future = 0;
+  if (orientation.getZ().size() > 16) {
+    orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
   }
+  // straight: 112, in turns: 70
+  float curve_hue = fmax(70, 112 - (orientation_future * 420));
+  // FIXME: painter.drawPolygon can be slow if hue is not rounded
+  curve_hue = int(curve_hue * 100 + 0.5) / 100;
+
+  bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
+  bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
+  bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
 

selfdrive/ui/ui.cc

@@ -114,7 +114,7 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
   max_idx = get_path_length_idx(model_position, max_distance);
-  update_line_data(s, model_position, scene.end_to_end ? 0.9 : 0.5, 1.22, &scene.track_vertices, max_idx, false);
+  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
 }
 
 static void update_sockets(UIState *s) {
@@ -221,7 +221,6 @@ void UIState::updateStatus() {
     if (scene.started) {
       status = STATUS_DISENGAGED;
       scene.started_frame = sm->frame;
-      scene.end_to_end = Params().getBool("EndToEndToggle");
       wide_camera = Params().getBool("WideCameraOnly");
     }
     started_prev = scene.started;

selfdrive/ui/ui.h

@@ -107,7 +107,7 @@ typedef struct UIScene {
   QPointF lead_vertices[2];
 
   float light_sensor, accel_sensor, gyro_sensor;
-  bool started, ignition, is_metric, longitudinal_control, end_to_end;
+  bool started, ignition, is_metric, longitudinal_control;
   uint64_t started_frame;
 } UIScene;