移除 Joystick Debug Mode 和 Longitudinal Maneuver Mode

dragonpilot/settings/openpilot.developer.py

@@ -4,10 +4,9 @@ Mirror of upstream openpilot's DeveloperLayout settings for the dashy web UI.
 See openpilot.toggles.py for the rationale (DASHY-gated, no param_type, etc.).
 
 Notes:
-- AlphaLongitudinalEnabled / JoystickDebugMode / LongitudinalManeuverMode are
-  hidden on release builds in the device UI (DeveloperLayout._update_toggles).
-  Mirror them with `condition: "DASHY and not IS_RELEASE"` so release-branch
-  dashy hides them too.
+- AlphaLongitudinalEnabled is hidden on release builds in the device UI
+  (DeveloperLayout._update_toggles). Mirror with
+  `condition: "DASHY and not IS_RELEASE"` so release-branch dashy hides it too.
 - SSH Keys: rendered as a text_input (GithubUsername) + text_display
   (GithubSshKeys) + clear button. The actual github.com fetch is handled by
   the dashy action endpoint /api/action/ssh_key_set since it has side effects
@@ -35,16 +34,6 @@ ITEMS = [
     "title": lambda: tr("Enable SSH"),
     "condition": _DASHY,
   },
-  {
-    "section": _SEC, "key": "JoystickDebugMode", "type": "toggle_item",
-    "title": lambda: tr("Joystick Debug Mode"),
-    "condition": _DASHY_ALPHA,
-  },
-  {
-    "section": _SEC, "key": "LongitudinalManeuverMode", "type": "toggle_item",
-    "title": lambda: tr("Longitudinal Maneuver Mode"),
-    "condition": _DASHY_ALPHA,
-  },
   {
     "section": _SEC, "key": "AlphaLongitudinalEnabled", "type": "toggle_item",
     "title": lambda: tr("openpilot Longitudinal Control (Alpha)"),

selfdrive/ui/layouts/settings/developer.py

@@ -58,21 +58,6 @@ class DeveloperLayout(Widget):
     )
     self._ssh_keys = ssh_key_item(lambda: tr("SSH Keys"), description=lambda: tr(DESCRIPTIONS["ssh_key"]))
 
-    self._joystick_toggle = toggle_item(
-      lambda: tr("Joystick Debug Mode"),
-      description="",
-      initial_state=self._params.get_bool("JoystickDebugMode"),
-      callback=self._on_joystick_debug_mode,
-      enabled=ui_state.is_offroad,
-    )
-
-    self._long_maneuver_toggle = toggle_item(
-      lambda: tr("Longitudinal Maneuver Mode"),
-      description="",
-      initial_state=self._params.get_bool("LongitudinalManeuverMode"),
-      callback=self._on_long_maneuver_mode,
-    )
-
     self._lat_maneuver_toggle = toggle_item(
       lambda: tr("Lateral Maneuver Mode"),
       description="",
@@ -100,8 +85,6 @@ class DeveloperLayout(Widget):
       self._adb_toggle,
       self._ssh_toggle,
       self._ssh_keys,
-      self._joystick_toggle,
-      self._long_maneuver_toggle,
       self._lat_maneuver_toggle,
       self._alpha_long_toggle,
       self._ui_debug_toggle,
@@ -124,7 +107,7 @@ class DeveloperLayout(Widget):
 
     # Hide non-release toggles on release builds
     # TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
-    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle):
+    for item in (self._lat_maneuver_toggle, self._alpha_long_toggle):
       item.set_visible(not self._is_release)
 
     # CP gating
@@ -136,10 +119,8 @@ class DeveloperLayout(Widget):
       else:
         self._alpha_long_toggle.set_visible(True)
 
-      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
-      self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
+      pass
     else:
-      self._long_maneuver_toggle.action_item.set_enabled(False)
       self._lat_maneuver_toggle.action_item.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
@@ -148,8 +129,6 @@ class DeveloperLayout(Widget):
     for key, item in (
       ("AdbEnabled", self._adb_toggle),
       ("SshEnabled", self._ssh_toggle),
-      ("JoystickDebugMode", self._joystick_toggle),
-      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
       ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._ui_debug_toggle),
@@ -167,27 +146,9 @@ class DeveloperLayout(Widget):
   def _on_enable_ssh(self, state: bool):
     self._params.put_bool("SshEnabled", state, block=True)
 
-  def _on_joystick_debug_mode(self, state: bool):
-    self._params.put_bool("JoystickDebugMode", state, block=True)
-    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
-    self._long_maneuver_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False, block=True)
-    self._lat_maneuver_toggle.action_item.set_state(False)
-
-  def _on_long_maneuver_mode(self, state: bool):
-    self._params.put_bool("LongitudinalManeuverMode", state, block=True)
-    self._params.put_bool("JoystickDebugMode", False, block=True)
-    self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LateralManeuverMode", False, block=True)
-    self._lat_maneuver_toggle.action_item.set_state(False)
-
   def _on_lat_maneuver_mode(self, state: bool):
     self._params.put_bool("LateralManeuverMode", state, block=True)
     self._params.put_bool("ExperimentalMode", False, block=True)
-    self._params.put_bool("JoystickDebugMode", False, block=True)
-    self._joystick_toggle.action_item.set_state(False)
-    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
-    self._long_maneuver_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state: