ui/settings: allow driving personality without CarParams (#28753)

* allow driving personality without CarParams

* rename to hasLongitudinalControl

* Update selfdrive/ui/qt/util.cc

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 5493cb4289

selfdrive/ui/qt/offroad/settings.cc

@@ -139,7 +139,6 @@ void TogglesPanel::updateToggles() {
                                   .arg(tr("New Driving Visualization"))
                                   .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
 
-  long_personality_setting->setEnabled(false);
   const bool is_release = params.getBool("IsReleaseBranch");
   auto cp_bytes = params.get("CarParamsPersistent");
   if (!cp_bytes.empty()) {
@@ -151,10 +150,7 @@ void TogglesPanel::updateToggles() {
       params.remove("ExperimentalLongitudinalEnabled");
     }
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
-
+    if (hasLongitudinalControl(CP)) {
-    const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
-    const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled");
-    if (op_long || exp_long_enabled) {
       // normal description and toggle
       e2e_toggle->setEnabled(true);
       e2e_toggle->setDescription(e2e_description);
@@ -162,6 +158,7 @@ void TogglesPanel::updateToggles() {
     } else {
       // no long for now
       e2e_toggle->setEnabled(false);
+      long_personality_setting->setEnabled(false);
       params.remove("ExperimentalMode");
 
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

selfdrive/ui/qt/onroad.cc

@@ -191,8 +191,7 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
 
 void ExperimentalButton::changeMode() {
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  const bool experimental_mode_available = cp.getExperimentalLongitudinalAvailable() ? params.getBool("ExperimentalLongitudinalEnabled") : cp.getOpenpilotLongitudinalControl();
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
-  bool can_change = experimental_mode_available && params.getBool("ExperimentalModeConfirmed");
   if (can_change) {
     params.putBool("ExperimentalMode", !experimental_mode);
   }

selfdrive/ui/qt/util.cc

@@ -250,3 +250,11 @@ QPixmap bootstrapPixmap(const QString &id) {
   }
   return pixmap;
 }
+
+bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
+  // Using the experimental longitudinal toggle, returns whether longitudinal control
+  // will be active without needing a restart of openpilot
+  return car_params.getExperimentalLongitudinalAvailable()
+             ? Params().getBool("ExperimentalLongitudinalEnabled")
+             : car_params.getOpenpilotLongitudinalControl();
+}

selfdrive/ui/qt/util.h

@@ -9,6 +9,8 @@
 #include <QSurfaceFormat>
 #include <QWidget>
 
+#include "cereal/gen/cpp/car.capnp.h"
+
 QString getVersion();
 QString getBrand();
 QString getUserAgent();
@@ -27,3 +29,4 @@ QPixmap bootstrapPixmap(const QString &id);
 
 void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
 QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
+bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);