Force Enable Torque Bar

common/params_keys.h

@@ -145,6 +145,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 	{"BatteryDetails", {PERSISTENT, BOOL}},
 	{"ForceRHDForBSM", {PERSISTENT, BOOL}},
 	{"DisableCarSteerAlerts", {PERSISTENT, BOOL}},
+	{"ForceShowTorqueBar", {PERSISTENT, BOOL}},
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},

selfdrive/ui/mici/layouts/settings/ictoggles.py

@@ -26,6 +26,7 @@ class ICTogglesLayoutMici(NavWidget):
     enable_smooth_steer         = BigParamControl("Steer Smoothing", "EnableSmoothSteer")
     enable_dark_mode            = BigParamControl("Dark Mode", "DarkMode")
     enable_onroad_screen_timer  = BigParamControl("Onroad Screen Timeout", "DisableScreenTimer")
+    force_enable_torque_bar     = BigParamControl("Force Enable Torque Bar", "ForceShowTorqueBar")
     
 
     self._scroller = Scroller([
@@ -40,6 +41,7 @@ class ICTogglesLayoutMici(NavWidget):
       enable_smooth_steer,
       enable_dark_mode,
       enable_onroad_screen_timer,
+      force_enable_torque_bar,
     ], snap_items=False)
 
     # Toggle lists
@@ -55,6 +57,7 @@ class ICTogglesLayoutMici(NavWidget):
       ("EnableSmoothSteer", enable_smooth_steer),
       ("DarkMode", enable_dark_mode),
       ("DisableScreenTimer", enable_onroad_screen_timer),
+      ("ForceShowTorqueBar", force_enable_torque_bar),
     )
 
     if ui_state.params.get_bool("ShowDebugInfo"):

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -172,7 +172,7 @@ class HudRenderer(Widget):
   def _render(self, rect: rl.Rectangle) -> None:
     """Render HUD elements to the screen."""
 
-    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
+    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' or ui_state.force_enable_torque_bar:
       self._torque_bar.render(rect)
 
     if self.is_cruise_set:

selfdrive/ui/ui_state.py

@@ -88,6 +88,7 @@ class UIState(UIStateSP):
     
     self.dark_mode: bool = False
     self.onroad_screen_timeout: bool = False
+    self.force_enable_torque_bar: bool = False
     self.has_alert: bool = False
     self.has_status_change: bool = False
     self._status_prev: UIStatus = self.status
@@ -205,6 +206,7 @@ class UIState(UIStateSP):
     self._param_update_time = time.monotonic()
     self.dark_mode = self.params.get_bool("DarkMode")
     self.onroad_screen_timeout = self.params.get_bool("DisableScreenTimer")
+    self.force_enable_torque_bar = self.params.get_bool("ForceShowTorqueBar")
 
 
 class Device(DeviceSP):