From e6d11a46b4a2cf4e939d488b82b6bc3ad02fcee9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 1 Oct 2023 03:14:36 -0400
Subject: [PATCH] Torqued: Hide torqued in Dev UI when Custom Live Tune is
 overriding (#317)

---
 selfdrive/ui/qt/onroad.cc | 2 +-
 selfdrive/ui/ui.cc        | 1 +
 selfdrive/ui/ui.h         | 2 ++
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 9e05155e5a..0452656811 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -588,7 +588,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   steeringTorqueEps = car_state.getSteeringTorqueEps();
   bearingAccuracyDeg = gpsLocationExternal.getBearingAccuracyDeg();
   bearingDeg = gpsLocationExternal.getBearingDeg();
-  torquedUseParams = ltp.getUseParams() || s.scene.live_torque_toggle;
+  torquedUseParams = (ltp.getUseParams() || s.scene.live_torque_toggle) && !s.scene.torqued_override;
   latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
   frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
   liveValid = ltp.getLiveValid();
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c5ae8f2352..9f58ede777 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -254,6 +254,7 @@ void ui_update_params(UIState *s) {
   s->scene.e2e_long_alert_ui = params.getBool("EndToEndLongAlertUI");
   s->scene.map_3d_buildings = params.getBool("Map3DBuildings");
   s->scene.live_torque_toggle = params.getBool("LiveTorque");
+  s->scene.torqued_override = params.getBool("TorquedOverride");
 
   // Handle Onroad Screen Off params
   if (s->scene.onroadScreenOff > 0) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 3bf615ba86..741dd82186 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -238,6 +238,8 @@ typedef struct UIScene {
   bool onroad_settings_visible;
 
   bool map_3d_buildings;
+
+  bool torqued_override;
 } UIScene;
 
 class UIState : public QObject {