ui: reset Enforce Torque Control and NNLC if both are enabled (#1863)

* ui: reset Enforce Torque Control and NNLC if both are enabled

* block

common/params_keys.h

@@ -178,7 +178,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},

selfdrive/ui/mici/layouts/settings/toggles.py

@@ -21,10 +21,8 @@ class TogglesLayoutMici(NavScroller):
     record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
-    radar_tracks = BigParamControl("radar tracks", "RadarTracks")
 
     self._scroller.add_widgets([
-      radar_tracks,
       self._personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
@@ -37,7 +35,6 @@ class TogglesLayoutMici(NavScroller):
 
     # Toggle lists
     self._refresh_toggles = (
-      ("RadarTracks", radar_tracks),
       ("ExperimentalMode", self._experimental_btn),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),

selfdrive/ui/mici/onroad/model_renderer.py

@@ -153,9 +153,6 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_lane_lines()
       self._draw_path(sm)
 
-    if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=3)
-
     # if render_lead_indicator and radar_state:
     #   self._draw_lead_indicator()
 

selfdrive/ui/onroad/model_renderer.py

@@ -135,9 +135,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._draw_lane_lines()
     self._draw_path(sm)
 
-    if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z)
-
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
       self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)

selfdrive/ui/sunnypilot/layouts/settings/steering.py

@@ -134,6 +134,11 @@ class SteeringLayout(Widget):
 
     enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
     nnlc_enabled = self._nnlc_toggle.action_item.get_state()
+    if enforce_torque_enabled and nnlc_enabled:
+      self._torque_control_toggle.action_item.set_state(False)
+      self._nnlc_toggle.action_item.set_state(False)
+      enforce_torque_enabled = False
+      nnlc_enabled = False
     self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
     self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
     self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())

selfdrive/ui/sunnypilot/onroad/model_renderer.py

@@ -6,12 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks
 
 
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
     self.chevron_metrics = ChevronMetrics()
-    self.radar_tracks = RadarTracks()
-

selfdrive/ui/sunnypilot/onroad/radar_tracks.py

@@ -1,23 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import math
-import pyray as rl
-
-
-class RadarTracks:
-  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6):
-    for track in live_tracks.points:
-      d_rel, y_rel, v_rel, a_rel = track.dRel, track.yRel, track.vRel, track.aRel
-      if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel) and math.isfinite(a_rel)):
-        continue
-
-      pt = map_to_screen(d_rel, -y_rel, path_offset_z)
-      if pt is None:
-        continue
-
-      x, y = pt
-      rl.draw_circle(int(x), int(y), track_size, rl.Color(0, 255, 64, 255))

selfdrive/ui/sunnypilot/ui_state.py

@@ -169,7 +169,6 @@ class UIStateSP:
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
     self.always_offroad = self.params.get_bool("OffroadMode")
-    self.radar_tracks = self.params.get_bool("RadarTracks")
 
     if not self._sp_initialized:
       self._sp_initialized = True
@@ -180,6 +179,10 @@ class UIStateSP:
     CP = self.CP
 
     if CP is not None:
+      if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("EnforceTorqueControl", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
       # Angle steering: no torque-based lateral controls
       if CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.params.remove("EnforceTorqueControl")

selfdrive/ui/ui_state.py

@@ -63,7 +63,6 @@ class UIState(UIStateSP):
         "liveParameters",
         "testJoystick",
         "rawAudioData",
-        "liveTracks",
       ] + self.sm_services_ext
     )
 

sunnypilot/sunnylink/settings_ui.json

@@ -1296,12 +1296,6 @@
               "title": "Display Turn Signals",
               "description": "When enabled, visual turn indicators are drawn on the HUD."
             },
-            {
-              "key": "RadarTracks",
-              "widget": "toggle",
-              "title": "Radar Tracks",
-              "description": "Show radar tracks"
-            },
             {
               "key": "RoadNameToggle",
               "widget": "toggle",

sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml

@@ -24,10 +24,6 @@ sections:
     widget: toggle
     title: Display Turn Signals
     description: When enabled, visual turn indicators are drawn on the HUD.
-  - key: RadarTracks
-    widget: toggle
-    title: Radar Tracks
-    description: Show radar tracks
   - key: RoadNameToggle
     widget: toggle
     title: Display Road Name