From 87bc80d35145686903ccb499cd4fe4092054a45e Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Thu, 14 Nov 2024 18:38:41 -0300
Subject: [PATCH] Dev panel: disable long maneuver toggle for stock long
 (#34006)

* fix errors in developerPanel

* clean up

* clean up

* need to keep track of offroad sadly

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/qt/offroad/developer_panel.cc | 36 +++++++++++++++++-----
 selfdrive/ui/qt/offroad/developer_panel.h  |  6 ++++
 2 files changed, 34 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index bb11b35404..5e127eb21f 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -3,6 +3,7 @@
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
+#include "common/util.h"
 
 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   // SSH keys
@@ -24,13 +25,32 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   // Joystick and longitudinal maneuvers should be hidden on release branches
-  // also the toggles should be not available to change in onroad state
-  const bool is_release = params.getBool("IsReleaseBranch");
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<ParamControl *>()) {
-      btn->setVisible(!is_release);
-      btn->setEnabled(offroad);
-    }
-  });
+  is_release = params.getBool("IsReleaseBranch");
 
+  // Toggles should be not available to change in onroad state
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
+}
+
+void DeveloperPanel::updateToggles(bool _offroad) {
+  for (auto btn : findChildren<ParamControl *>()) {
+    btn->setVisible(!is_release);
+    btn->setEnabled(_offroad);
+  }
+
+  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
+  } else {
+    longManeuverToggle->setEnabled(false);
+  }
+
+  offroad = _offroad;
+}
+
+void DeveloperPanel::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
 }
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index 9fcff1e97b..fe38612e57 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -6,9 +6,15 @@ class DeveloperPanel : public ListWidget {
   Q_OBJECT
 public:
   explicit DeveloperPanel(SettingsWindow *parent);
+  void showEvent(QShowEvent *event) override;
 
 private:
   Params params;
   ParamControl* joystickToggle;
   ParamControl* longManeuverToggle;
+  bool is_release;
+  bool offroad;
+
+private slots:
+  void updateToggles(bool _offroad);
 };