Merge branch 'SP-64-ui-force-offroad' into master-dev-c3-new

# Conflicts:
#	CHANGELOGS.md

CHANGELOGS.md

@@ -24,6 +24,9 @@ sunnypilot - 0.9.7.0 (2024-05-xx)
   * comma Prime support
   * Personal Mapbox/Amap/Google Maps token support
   * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
+* NEW❗: Forced Offroad mode
+  * Force sunnypilot in the offroad state even when the car is on
+  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
 * NEW❗: Ford CAN-FD longitudinal
   * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
 * UPDATED: Hyundai CAN-FD Radar-based SCC

common/params.cc

@@ -256,6 +256,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"EnhancedScc", PERSISTENT | BACKUP},
     {"FeatureStatus", PERSISTENT | BACKUP},
     {"FleetManagerPin", PERSISTENT},
+    {"ForceOffroad", CLEAR_ON_MANAGER_START},
     {"GmapKey", PERSISTENT | BACKUP},
     {"HandsOnWheelMonitoring", PERSISTENT | BACKUP},
     {"HideVEgoUi", PERSISTENT | BACKUP},
@@ -325,6 +326,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"VisionCurveLaneless", PERSISTENT | BACKUP},
     {"VwAccType", PERSISTENT | BACKUP},
     {"VwCCOnly", PERSISTENT | BACKUP},
+    {"Offroad_ForceStatus", CLEAR_ON_MANAGER_START},
     {"Offroad_SupersededUpdate", PERSISTENT},
 
     {"SunnylinkCache_Users", PERSISTENT},

selfdrive/boardd/boardd.cc

@@ -229,7 +229,7 @@ void can_recv_thread(std::vector<Panda *> pandas) {
   }
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, Params &params) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
 
@@ -277,7 +277,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 0;
     }
 
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !params.getBool("ForceOffroad");
 
     pandaStates.push_back(health);
   }
@@ -432,7 +432,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
       send_peripheral_state(&pm, peripheral_panda);
     }
 
-    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
+    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started, params);
 
     if (!ignition_opt) {
       LOGE("Failed to get ignition_opt");

selfdrive/controls/lib/alerts_offroad.json

@@ -52,5 +52,9 @@
   "Offroad_OSMUpdateRequired": {
     "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
     "severity": 0
+  },
+  "Offroad_ForceStatus": {
+    "text": "sunnypilot is now in Forced Offroad mode. sunnypilot won't start until Forced Offroad mode is disabled. Go to \"Settings\" -> \"Device\" -> \"Unforce Offroad\" to exit Force Offroad mode.",
+    "severity": 1
   }
 }

selfdrive/thermald/thermald.py

@@ -311,6 +311,12 @@ def thermald_thread(end_event, hw_queue) -> None:
     # ensure device is fully booted
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
 
+    # user-forced status
+    force_offroad = params.get_bool("ForceOffroad")
+    startup_conditions["not_force_offroad"] = not force_offroad
+    onroad_conditions["not_force_offroad"] = not force_offroad
+    set_offroad_alert("Offroad_ForceStatus", force_offroad)
+
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     extra_text = f"{offroad_comp_temp:.1f}C"

selfdrive/ui/qt/offroad/settings.cc

@@ -442,13 +442,24 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
   }
 
+  offroad_btn = new QPushButton(tr("Toggle Onroad/Offroad"));
+  offroad_btn->setObjectName("offroad_btn");
+  QObject::connect(offroad_btn, &QPushButton::clicked, this, &DevicePanel::forceoffroad);
+
+  QVBoxLayout *buttons_layout = new QVBoxLayout();
+  buttons_layout->setSpacing(24);
+  buttons_layout->addLayout(power_layout);
+  buttons_layout->addWidget(offroad_btn);
+
   setStyleSheet(R"(
     #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
     #reboot_btn:pressed { background-color: #4a4a4a; }
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
     #poweroff_btn:pressed { background-color: #FF2424; }
   )");
-  addItem(power_layout);
+  addItem(buttons_layout);
+
+  updateLabels();
 }
 
 void DevicePanel::onPinFileChanged(const QString &file_path) {
@@ -523,9 +534,51 @@ void DevicePanel::poweroff() {
   }
 }
 
+void DevicePanel::forceoffroad() {
+  if (!uiState()->engaged()) {
+    if (params.getBool("ForceOffroad")) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to unforce offroad?"), tr("Unforce"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.remove("ForceOffroad");
+        }
+      }
+    } else {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to force offroad?"), tr("Force"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.putBool("ForceOffroad", true);
+        }
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Force Offroad"), this);
+  }
+
+  updateLabels();
+}
+
 void DevicePanel::showEvent(QShowEvent *event) {
   pair_device->setVisible(uiState()->primeType() == PrimeType::UNPAIRED);
   ListWidget::showEvent(event);
+  updateLabels();
+}
+
+void DevicePanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+
+  bool force_offroad_param = params.getBool("ForceOffroad");
+  QString offroad_btn_style = force_offroad_param ? "#393939" : "#E22C2C";
+  QString offroad_btn_pressed_style = force_offroad_param ? "#4a4a4a" : "#FF2424";
+  QString btn_common_style = QString("QPushButton { height: 120px; border-radius: 15px; background-color: %1; }"
+                                     "QPushButton:pressed { background-color: %2; }")
+                             .arg(offroad_btn_style,
+                                  offroad_btn_pressed_style);
+
+  offroad_btn->setText(force_offroad_param ? tr("Unforce Offroad") : tr("Force Offroad"));
+  offroad_btn->setStyleSheet(btn_common_style + offroad_btn_style + offroad_btn_pressed_style);
 }
 
 void SettingsWindow::showEvent(QShowEvent *event) {

selfdrive/ui/qt/offroad/settings.h

@@ -63,6 +63,9 @@ private slots:
   void updateCalibDescription();
   void onPinFileChanged(const QString &file_path);
   void refreshPin();
+  void forceoffroad();
+
+  void updateLabels();
 
 private:
   Params params;
@@ -72,6 +75,8 @@ private:
   QString pin_title = tr("Fleet Manager PIN:") + " ";
   QString pin = "OFF";
   QFileSystemWatcher *fs_watch;
+
+  QPushButton *offroad_btn;
 };
 
 class TogglesPanel : public ListWidget {

selfdrive/ui/ui.cc

@@ -165,6 +165,7 @@ static void update_sockets(UIState *s) {
 static void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
+  auto params = Params();
 
   if (sm.updated("liveCalibration")) {
     auto live_calib = sm["liveCalibration"].getLiveCalibration();
@@ -214,7 +215,7 @@ static void update_state(UIState *s) {
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
     scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
-  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition && !params.getBool("ForceOffroad");
 
   scene.world_objects_visible = scene.world_objects_visible ||
                                 (scene.started &&