From c6bf6886cf74272d7c8d15b95b565760f684d42b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 01:01:18 -0400
Subject: [PATCH 01/24] ui: Force offroad from settings when the car is on

---
 common/params.cc                           |  1 +
 selfdrive/controls/lib/alerts_offroad.json |  4 ++
 selfdrive/thermald/thermald.py             |  3 ++
 selfdrive/ui/qt/offroad/settings.cc        | 56 +++++++++++++++++++++-
 selfdrive/ui/qt/offroad/settings.h         | 10 ++++
 5 files changed, 73 insertions(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index 9f9a053041..ccfb3a7ae2 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -255,6 +255,7 @@ 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},
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index e08d67f43b..13780b5221 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -56,5 +56,9 @@
   "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     "text": "OpenStreetMap database is out of date.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 get out of Force Offroad mode.",
+    "severity": 1
   }
 }
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 37206c2f06..10ab1198a3 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -309,6 +309,9 @@ 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
+    startup_conditions["not_force_offroad"] = not params.get_bool("ForceOffroad")
+
     # 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"
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index d401102c5d..9d4905c63d 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -403,13 +403,34 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
   }
 
+  addItem(power_layout);
+
+  // TODO: Add Force Onroad/Offroad toggle under power_layout
+  offroad_btn = new QPushButton(tr("Toggle Onroad/Offroad"));
+  offroad_btn->setObjectName("offroad_btn");
+  QObject::connect(offroad_btn, &QPushButton::clicked, this, &DevicePanel::forceoffroad);
+  if (!Hardware::PC()) {
+    connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+      offroad_btn->setVisible(params.getBool("ForceOffroad") && offroad);
+    });
+  }
+  addItem(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; }
+    #offroad_btn { height: 120px; border-radius: 15px; background-color: #393939; }
+    #offroad_btn:pressed { background-color: #4a4a4a; }
   )");
-  addItem(power_layout);
+
+  connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    is_onroad = !offroad;
+    updateLabels();
+  });
+
+  updateLabels();
 }
 
 void DevicePanel::onPinFileChanged(const QString &file_path) {
@@ -484,6 +505,39 @@ void DevicePanel::poweroff() {
   }
 }
 
+void DevicePanel::forceoffroad() {
+  if (!uiState()->engaged()) {
+    if (is_onroad) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to force offroad?"), tr("Force"), this)) {
+        if (!uiState()->engaged()) {
+          params.putBool("ForceOffroad", true);
+        }
+      }
+    } else {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to unforce offroad?"), tr("Unforce"), this)) {
+        if (!uiState()->engaged()) {
+          params.remove("ForceOFfroad");
+        }
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Force Offroad"), this);
+  }
+}
+
+void DevicePanel::showEvent(QShowEvent *event) {
+  updateLabels();
+}
+
+void DevicePanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+
+  offroad_btn->setText(is_onroad ? tr("Force Offroad") : tr("Unforce Offroad"));
+  offroad_btn->setVisible(params.getBool("ForceOffroad") || is_onroad);
+}
+
 void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 4f12609269..8ea7835b37 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -51,6 +51,8 @@ class DevicePanel : public ListWidget {
   Q_OBJECT
 public:
   explicit DevicePanel(SettingsWindow *parent);
+protected:
+  void showEvent(QShowEvent *event) override;
 signals:
   void reviewTrainingGuide();
   void showDriverView();
@@ -61,6 +63,9 @@ private slots:
   void updateCalibDescription();
   void onPinFileChanged(const QString &file_path);
   void refreshPin();
+  void forceoffroad();
+
+  void updateLabels();
 
 private:
   Params params;
@@ -69,6 +74,11 @@ private:
   QString pin_title = tr("Fleet Manager PIN:") + " ";
   QString pin = "OFF";
   QFileSystemWatcher *fs_watch;
+
+  QPushButton *offroad_btn;
+
+protected:
+  bool is_onroad = false;
 };
 
 class TogglesPanel : public ListWidget {

From 153b8b8bff41ac92fef82caf25af80c2862a8d4c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 12:29:02 -0400
Subject: [PATCH 02/24] Add this check too

---
 selfdrive/ui/ui.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 9a6f355cc7..e2a1879c39 100644
--- a/selfdrive/ui/ui.cc
+++ b/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 &&

From d2c242b17c591013dd2fe10b6e225b2fee5f324c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 12:37:57 -0400
Subject: [PATCH 03/24] Impossible condition

---
 selfdrive/ui/qt/offroad/settings.cc | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 9d4905c63d..37521cee52 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -515,9 +515,7 @@ void DevicePanel::forceoffroad() {
       }
     } else {
       if (ConfirmationDialog::confirm(tr("Are you sure you want to unforce offroad?"), tr("Unforce"), this)) {
-        if (!uiState()->engaged()) {
-          params.remove("ForceOFfroad");
-        }
+        params.remove("ForceOFfroad");
       }
     }
   } else {

From 819e5660e81a6fb12fa67e0b4f7935020ba4664d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 12:41:10 -0400
Subject: [PATCH 04/24] Revert "Impossible condition"

This reverts commit d2c242b17c591013dd2fe10b6e225b2fee5f324c.
---
 selfdrive/ui/qt/offroad/settings.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 37521cee52..9d4905c63d 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -515,7 +515,9 @@ void DevicePanel::forceoffroad() {
       }
     } else {
       if (ConfirmationDialog::confirm(tr("Are you sure you want to unforce offroad?"), tr("Unforce"), this)) {
-        params.remove("ForceOFfroad");
+        if (!uiState()->engaged()) {
+          params.remove("ForceOFfroad");
+        }
       }
     }
   } else {

From fef46d3093efc3a1e4f9c56bc014e4657f62ba1c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 12:41:15 -0400
Subject: [PATCH 05/24] wtf

---
 selfdrive/ui/qt/offroad/settings.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 9d4905c63d..403880da53 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -516,7 +516,7 @@ void DevicePanel::forceoffroad() {
     } else {
       if (ConfirmationDialog::confirm(tr("Are you sure you want to unforce offroad?"), tr("Unforce"), this)) {
         if (!uiState()->engaged()) {
-          params.remove("ForceOFfroad");
+          params.remove("ForceOffroad");
         }
       }
     }

From 2f4f0a7c16f07922a1f1ceddae275e08db51d2be Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 16:50:34 -0400
Subject: [PATCH 06/24] display message when forced offroad

---
 common/params.cc               | 1 +
 selfdrive/thermald/thermald.py | 1 +
 2 files changed, 2 insertions(+)

diff --git a/common/params.cc b/common/params.cc
index ccfb3a7ae2..b683609194 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -323,6 +323,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"VisionCurveLaneless", PERSISTENT | BACKUP},
     {"VwAccType", PERSISTENT | BACKUP},
     {"VwCCOnly", PERSISTENT | BACKUP},
+    {"Offroad_ForceStatus", PERSISTENT},
     {"Offroad_SupersededUpdate", PERSISTENT},
 
     {"SunnylinkCache_Users", PERSISTENT},
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 10ab1198a3..0a79b23da8 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -311,6 +311,7 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     # user-forced status
     startup_conditions["not_force_offroad"] = not params.get_bool("ForceOffroad")
+    set_offroad_alert("Offroad_ForceStatus", True)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger

From 3071744acda58f877134e71c3723b7c589fcd9e0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 16:54:46 -0400
Subject: [PATCH 07/24] only display message when forced

---
 selfdrive/thermald/thermald.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 0a79b23da8..961e7131cc 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -311,7 +311,8 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     # user-forced status
     startup_conditions["not_force_offroad"] = not params.get_bool("ForceOffroad")
-    set_offroad_alert("Offroad_ForceStatus", True)
+    if not startup_conditions["not_force_offroad"]:
+      set_offroad_alert("Offroad_ForceStatus", True)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger

From 2030196c8c4000e987c71540841f0562ebaa3d7d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 16:55:55 -0400
Subject: [PATCH 08/24] show button at all times

---
 selfdrive/ui/qt/offroad/settings.cc | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 403880da53..9332b49248 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -409,11 +409,6 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   offroad_btn = new QPushButton(tr("Toggle Onroad/Offroad"));
   offroad_btn->setObjectName("offroad_btn");
   QObject::connect(offroad_btn, &QPushButton::clicked, this, &DevicePanel::forceoffroad);
-  if (!Hardware::PC()) {
-    connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-      offroad_btn->setVisible(params.getBool("ForceOffroad") && offroad);
-    });
-  }
   addItem(offroad_btn);
 
   setStyleSheet(R"(
@@ -535,7 +530,6 @@ void DevicePanel::updateLabels() {
   }
 
   offroad_btn->setText(is_onroad ? tr("Force Offroad") : tr("Unforce Offroad"));
-  offroad_btn->setVisible(params.getBool("ForceOffroad") || is_onroad);
 }
 
 void SettingsWindow::showEvent(QShowEvent *event) {

From 49ab5a1ca294c433f9cb95a2e2a1ff5c8bdc112f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 16:59:19 -0400
Subject: [PATCH 09/24] change it up

---
 selfdrive/thermald/thermald.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 961e7131cc..0ab3e0be11 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -312,7 +312,7 @@ def thermald_thread(end_event, hw_queue) -> None:
     # user-forced status
     startup_conditions["not_force_offroad"] = not params.get_bool("ForceOffroad")
     if not startup_conditions["not_force_offroad"]:
-      set_offroad_alert("Offroad_ForceStatus", True)
+      set_offroad_alert_if_changed("Offroad_ForceStatus", True)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger

From 7371b7aad5fb0ecc6c6ce5f661bc03a815bd693c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 16:59:45 -0400
Subject: [PATCH 10/24] wrong int flag

---
 common/params.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index b683609194..5c7a30d012 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -323,7 +323,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"VisionCurveLaneless", PERSISTENT | BACKUP},
     {"VwAccType", PERSISTENT | BACKUP},
     {"VwCCOnly", PERSISTENT | BACKUP},
-    {"Offroad_ForceStatus", PERSISTENT},
+    {"Offroad_ForceStatus", CLEAR_ON_MANAGER_START},
     {"Offroad_SupersededUpdate", PERSISTENT},
 
     {"SunnylinkCache_Users", PERSISTENT},

From 4abdf85dd13eeda94a43e3b125c1bd30f3e711c4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 17:01:27 -0400
Subject: [PATCH 11/24] use the param instead

---
 selfdrive/ui/qt/offroad/settings.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 9332b49248..f43c92d3a0 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -529,7 +529,7 @@ void DevicePanel::updateLabels() {
     return;
   }
 
-  offroad_btn->setText(is_onroad ? tr("Force Offroad") : tr("Unforce Offroad"));
+  offroad_btn->setText(params.getBool("ForceOffroad") ? tr("Unforce Offroad") : tr("Force Offroad"));
 }
 
 void SettingsWindow::showEvent(QShowEvent *event) {

From c0f46cd44ad2ee61d8471e616597607d7d5cbb51 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 17:06:41 -0400
Subject: [PATCH 12/24] do this instead, and flip the logics

---
 selfdrive/ui/qt/offroad/settings.cc | 21 +++++++++------------
 selfdrive/ui/qt/offroad/settings.h  |  3 ---
 2 files changed, 9 insertions(+), 15 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index f43c92d3a0..7a265cb797 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -420,11 +420,6 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     #offroad_btn:pressed { background-color: #4a4a4a; }
   )");
 
-  connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    is_onroad = !offroad;
-    updateLabels();
-  });
-
   updateLabels();
 }
 
@@ -502,22 +497,24 @@ void DevicePanel::poweroff() {
 
 void DevicePanel::forceoffroad() {
   if (!uiState()->engaged()) {
-    if (is_onroad) {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to force offroad?"), tr("Force"), this)) {
-        if (!uiState()->engaged()) {
-          params.putBool("ForceOffroad", true);
-        }
-      }
-    } else {
+    if (params.getBool("ForceOffroad")) {
       if (ConfirmationDialog::confirm(tr("Are you sure you want to unforce offroad?"), tr("Unforce"), this)) {
         if (!uiState()->engaged()) {
           params.remove("ForceOffroad");
         }
       }
+    } else {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to force offroad?"), tr("Force"), this)) {
+        if (!uiState()->engaged()) {
+          params.putBool("ForceOffroad", true);
+        }
+      }
     }
   } else {
     ConfirmationDialog::alert(tr("Disengage to Force Offroad"), this);
   }
+
+  updateLabels();
 }
 
 void DevicePanel::showEvent(QShowEvent *event) {
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 8ea7835b37..a29dda8ffc 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -76,9 +76,6 @@ private:
   QFileSystemWatcher *fs_watch;
 
   QPushButton *offroad_btn;
-
-protected:
-  bool is_onroad = false;
 };
 
 class TogglesPanel : public ListWidget {

From 92a0777aa7a38c5eb729b07eae479dedf4ba46fb Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 17:07:38 -0400
Subject: [PATCH 13/24] use this

---
 selfdrive/thermald/thermald.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 0ab3e0be11..961e7131cc 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -312,7 +312,7 @@ def thermald_thread(end_event, hw_queue) -> None:
     # user-forced status
     startup_conditions["not_force_offroad"] = not params.get_bool("ForceOffroad")
     if not startup_conditions["not_force_offroad"]:
-      set_offroad_alert_if_changed("Offroad_ForceStatus", True)
+      set_offroad_alert("Offroad_ForceStatus", True)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger

From f5cd0b91ed83b842007aab46f2795309b9c24f75 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 17:11:36 -0400
Subject: [PATCH 14/24] do this dynamically

---
 selfdrive/thermald/thermald.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 961e7131cc..ee6f82883b 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -311,8 +311,7 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     # user-forced status
     startup_conditions["not_force_offroad"] = not params.get_bool("ForceOffroad")
-    if not startup_conditions["not_force_offroad"]:
-      set_offroad_alert("Offroad_ForceStatus", True)
+    set_offroad_alert("Offroad_ForceStatus", not startup_conditions["not_force_offroad"])
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger

From 5c5cc631bbf59d5442feb9811195ec34cbd15008 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 17:33:33 -0400
Subject: [PATCH 15/24] More professional wording

---
 selfdrive/controls/lib/alerts_offroad.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index 13780b5221..a9533b86a5 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -58,7 +58,7 @@
     "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 get out of Force Offroad mode.",
+    "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
   }
 }

From f3e450db85b97cbb644bcf203c1fb3a20318c742 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 18 Apr 2024 18:22:26 -0400
Subject: [PATCH 16/24] Update CHANGELOGS.md

---
 CHANGELOGS.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 18c0a9df45..2f59fff64b 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -16,6 +16,9 @@ sunnypilot - 0.9.7.0 (2024-xx-xx)
   * GitHub account pairing from device settings scanning QR code
     * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
     * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
+* 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
 * RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
   * openpilot Longitudianl Control available cars
   * Custom Stock Longitudinal Control available cars

From 2bbb420d2844ed69768bae16a3283e2fdb688d43 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 19 Apr 2024 11:55:32 -0400
Subject: [PATCH 17/24] Transition to offroad

---
 selfdrive/thermald/thermald.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index ee6f82883b..8ed338b6e9 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -310,7 +310,9 @@ def thermald_thread(end_event, hw_queue) -> None:
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
 
     # user-forced status
-    startup_conditions["not_force_offroad"] = not params.get_bool("ForceOffroad")
+    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", not startup_conditions["not_force_offroad"])
 
     # if the temperature enters the danger zone, go offroad to cool down

From 1d19029f19eae448c2cc9d880b9bf6bbd85e9a8f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 19 Apr 2024 11:59:58 -0400
Subject: [PATCH 18/24] cleaner

---
 selfdrive/thermald/thermald.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 8ed338b6e9..9797127908 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -313,7 +313,7 @@ def thermald_thread(end_event, hw_queue) -> None:
     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", not startup_conditions["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

From 71b489a095804a62d0dc26bd74a392674de2bd06 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Apr 2024 01:35:16 -0400
Subject: [PATCH 19/24] Handle button style properly

---
 selfdrive/ui/qt/offroad/settings.cc | 26 +++++++++++++++++++-------
 1 file changed, 19 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 7a265cb797..3551d9ea00 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -403,23 +403,26 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
   }
 
-  addItem(power_layout);
-
-  // TODO: Add Force Onroad/Offroad toggle under power_layout
   offroad_btn = new QPushButton(tr("Toggle Onroad/Offroad"));
   offroad_btn->setObjectName("offroad_btn");
   QObject::connect(offroad_btn, &QPushButton::clicked, this, &DevicePanel::forceoffroad);
-  addItem(offroad_btn);
+
+  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; }
-    #offroad_btn { height: 120px; border-radius: 15px; background-color: #393939; }
-    #offroad_btn:pressed { background-color: #4a4a4a; }
+    #offroad_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
+    #offroad_btn:pressed { background-color: #FF2424; }
   )");
 
+  addItem(buttons_layout);
+
   updateLabels();
 }
 
@@ -526,7 +529,16 @@ void DevicePanel::updateLabels() {
     return;
   }
 
-  offroad_btn->setText(params.getBool("ForceOffroad") ? tr("Unforce Offroad") : tr("Force Offroad"));
+  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) {

From 1ba739c372a38e6960f80d3d1ccb7bc0230e13c2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Apr 2024 01:36:09 -0400
Subject: [PATCH 20/24] less

---
 selfdrive/ui/qt/offroad/settings.cc | 2 --
 1 file changed, 2 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 3551d9ea00..f1e1e39d86 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -417,8 +417,6 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     #reboot_btn:pressed { background-color: #4a4a4a; }
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
     #poweroff_btn:pressed { background-color: #FF2424; }
-    #offroad_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
-    #offroad_btn:pressed { background-color: #FF2424; }
   )");
 
   addItem(buttons_layout);

From da14ac9bff0ff36bde4ca6310c996c806605841a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Apr 2024 01:37:42 -0400
Subject: [PATCH 21/24] lint

---
 selfdrive/ui/qt/offroad/settings.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index f1e1e39d86..ae33019ce2 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -418,7 +418,6 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
     #poweroff_btn:pressed { background-color: #FF2424; }
   )");
-
   addItem(buttons_layout);
 
   updateLabels();

From b8d2e90e6275321d5fac873ba6c1dbeeb3e20479 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Apr 2024 01:39:05 -0400
Subject: [PATCH 22/24] add same comments

---
 selfdrive/ui/qt/offroad/settings.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index ae33019ce2..a73ca40de7 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -499,12 +499,14 @@ 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);
         }

From 4757364fa9ddf9cb6f1c1e0cb0b61a002aefc958 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Apr 2024 01:40:06 -0400
Subject: [PATCH 23/24] lint

---
 selfdrive/ui/qt/offroad/settings.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index a73ca40de7..13c7dc72ec 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -531,8 +531,8 @@ void DevicePanel::updateLabels() {
   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; }")
+  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);
 

From 8f3ca7a9b22ed1385e51b4d49b226a74a462c7c7 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Apr 2024 12:33:59 -0400
Subject: [PATCH 24/24] do we need this to close the relay?

---
 selfdrive/boardd/boardd.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index b2b59d3752..ed7d7eb815 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -266,7 +266,7 @@ 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();
 
@@ -314,7 +314,7 @@ 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);
   }
@@ -470,7 +470,7 @@ 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");