DEC: Refactor toggle states

common/params.cc

@@ -234,7 +234,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableOnroadUploads", PERSISTENT},
     {"DisengageLateralOnBrake", PERSISTENT},
     {"DynamicExperimentalControl", PERSISTENT},
-    {"DynamicExperimentalControlToggle", PERSISTENT},
     {"DynamicLaneProfile", PERSISTENT},
     {"EnableAmap", PERSISTENT},
     {"EnableDebugSnapshot", PERSISTENT},

selfdrive/controls/lib/longitudinal_planner.py

@@ -87,8 +87,7 @@ class LongitudinalPlanner:
 
   def read_param(self):
     try:
-      self.dynamic_experimental_controller.set_enabled(self.params.get_bool("DynamicExperimentalControl") and
-                                                       self.params.get_bool("DynamicExperimentalControlToggle"))
+      self.dynamic_experimental_controller.set_enabled(self.params.get_bool("DynamicExperimentalControl"))
     except AttributeError:
       self.dynamic_experimental_controller = DynamicExperimentalController()
     try:

selfdrive/ui/qt/offroad/sunnypilot_settings.cc

@@ -184,7 +184,7 @@ SPControlsPanel::SPControlsPanel(QWidget *parent) : ListWidget(parent) {
       "../assets/offroad/icon_blank.png",
     },
     {
-      "DynamicExperimentalControlToggle",
+      "DynamicExperimentalControl",
       tr("Enable Dynamic Experimental Control"),
       tr("Enable toggle to allow the model to determine when to use openpilot ACC or openpilot End to End Longitudinal."),
       "../assets/offroad/icon_speed_limit.png",

selfdrive/ui/qt/onroad.cc

@@ -419,8 +419,7 @@ void OnroadSettingsButton::paintEvent(QPaintEvent *event) {
 void OnroadSettingsButton::updateState(const UIState &s) {
   const auto cp = (*s.sm)["carParams"].getCarParams();
   auto dlp_enabled = true;
-  auto dec_enabled = s.scene.dynamic_experimental_control_toggle;
-  bool allow_btn = dlp_enabled || hasLongitudinalControl(cp) || dec_enabled || !cp.getPcmCruiseSpeed();
+  bool allow_btn = dlp_enabled || hasLongitudinalControl(cp) || !cp.getPcmCruiseSpeed();
 
   setVisible(allow_btn);
   setEnabled(allow_btn);
@@ -1616,9 +1615,9 @@ void AnnotatedCameraWidget::drawFeatureStatusText(QPainter &p, int x, int y) {
   // Dynamic Lane Profile
   drawFeatureStatusElement(dynamicLaneProfile, feature_text.dlp_list_text, feature_color.dlp_list_color, true, "OFF", "DLP");
 
-  if (uiState()->scene.dynamic_experimental_control_toggle) {
+  if (longitudinal) {
     bool cruise_enabled = (*uiState()->sm)["carState"].getCarState().getCruiseState().getEnabled();
-    bool dec_enabled = uiState()->scene.dynamic_experimental_control_toggle && uiState()->scene.dynamic_experimental_control;
+    bool dec_enabled = uiState()->scene.dynamic_experimental_control;
     bool experimental_mode = (*uiState()->sm)["controlsState"].getControlsState().getExperimentalMode();
     QColor dec_color((cruise_enabled && dec_enabled) ? "#4bff66" : "#ffffff");
     QRect dec_btn(x - eclipse_x_offset, y - eclipse_y_offset, w, h);

selfdrive/ui/qt/onroad_settings.cc

@@ -134,7 +134,7 @@ void OnroadSettings::changeGapAdjustCruise() {
 void OnroadSettings::changeDynamicExperimentalControl() {
   UIScene &scene = uiState()->scene;
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && scene.dynamic_experimental_control_toggle;
+  bool can_change = hasLongitudinalControl(cp);
   if (can_change) {
     scene.dynamic_experimental_control = !scene.dynamic_experimental_control;
     params.putBool("DynamicExperimentalControl", scene.dynamic_experimental_control);
@@ -160,7 +160,6 @@ void OnroadSettings::refresh() {
   param_watcher->addParam("DynamicLaneProfile");
   param_watcher->addParam("LongitudinalPersonality");
   param_watcher->addParam("DynamicExperimentalControl");
-  param_watcher->addParam("DynamicExperimentalControlToggle");
   param_watcher->addParam("SpeedLimitControl");
 
   UIScene &scene = uiState()->scene;
@@ -186,7 +185,7 @@ void OnroadSettings::refresh() {
 
   // Dynamic Experimental Control
   dec_widget->updateDynamicExperimentalControl("DynamicExperimentalControl");
-  dec_widget->setVisible(params.getBool("DynamicExperimentalControlToggle"));
+  dec_widget->setVisible(hasLongitudinalControl(cp));
 
   // Speed Limit Control
   slc_widget->updateSpeedLimitControl("SpeedLimitControl");

selfdrive/ui/ui.cc

@@ -254,7 +254,6 @@ void ui_update_params(UIState *s) {
   s->scene.map_3d_buildings = params.getBool("Map3DBuildings");
   s->scene.live_torque_toggle = params.getBool("LiveTorque");
   s->scene.torqued_override = params.getBool("TorquedOverride");
-  s->scene.dynamic_experimental_control_toggle = params.getBool("DynamicExperimentalControlToggle");
 
   // Handle Onroad Screen Off params
   if (s->scene.onroadScreenOff > 0) {

selfdrive/ui/ui.h

@@ -237,7 +237,7 @@ typedef struct UIScene {
 
   bool torqued_override;
 
-  bool dynamic_experimental_control_toggle, dynamic_experimental_control;
+  bool dynamic_experimental_control;
 
   QRect sl_sign_rect;
 } UIScene;