From d5a873ed8617cefd691509c9cc5dc4ec7ea42ff4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Sep 2025 02:53:03 -0400
Subject: [PATCH] ui: generic check with ICBM param (#1274)

---
 .../qt/offroad/settings/longitudinal_panel.cc          | 10 ++++++----
 .../qt/offroad/settings/longitudinal_panel.h           |  3 ++-
 selfdrive/ui/sunnypilot/qt/util.cc                     |  4 ++++
 selfdrive/ui/sunnypilot/qt/util.h                      |  1 +
 4 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 205f64a0b..8faa907a6 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -80,6 +80,7 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 }
 
 void LongitudinalPanel::refresh(bool _offroad) {
+  auto icbm_available = false;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -92,11 +93,12 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    icbm_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_intelligent_cruise_button_management = hasIntelligentCruiseButtonManagement(CP_SP);
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_intelligent_cruise_button_management = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -108,7 +110,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+    if (has_longitudinal_control || icbm_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -125,7 +127,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     }
   }
 
-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  bool icbm_allowed = has_intelligent_cruise_button_management && !has_longitudinal_control;
   intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
 
   // enable toggle when long is available and is not PCM cruise
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 846415065..1e26ea22f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -24,7 +25,7 @@ private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
+  bool has_intelligent_cruise_button_management = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index 2e066e88b..eaf05942a 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -123,3 +123,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 4b9d615ce..60a73615b 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);