From 06e22360ae02b4fc1f596e902341c2b7130d3db6 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 23 Sep 2021 17:19:47 -0700
Subject: [PATCH] Add DisableRadar_Allow param and settings toggle (#22329)

old-commit-hash: 8c01ae5716b558039946c07e63d42d16094037d2
---
 selfdrive/common/params.cc          |  1 +
 selfdrive/manager/manager.py        |  3 +++
 selfdrive/ui/qt/offroad/settings.cc | 12 ++++++++++--
 3 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index 54c937f257..99b0299b62 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -135,6 +135,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
+    {"DisableRadar_Allow", PERSISTENT},
     {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
     {"DisableUpdates", PERSISTENT},
     {"DongleId", PERSISTENT},
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index bcbd74f991..49c223a9e6 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -43,6 +43,9 @@ def manager_init():
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
+  if not params.get_bool("DisableRadar_Allow"):
+    params.delete("DisableRadar")
+
   # set unset params
   for k, v in default_params:
     if params.get(k) is None:
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 1a5d823312..b64c6526ed 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -26,6 +26,7 @@
 #include "selfdrive/ui/qt/qt_window.h"
 
 TogglesPanel::TogglesPanel(QWidget *parent) : ListWidget(parent) {
+  auto params = Params();
   addItem(new ParamControl("OpenpilotEnabledToggle",
                                   "Enable openpilot",
                                   "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
@@ -69,7 +70,6 @@ TogglesPanel::TogglesPanel(QWidget *parent) : ListWidget(parent) {
                                   "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
                                   "../assets/offroad/icon_road.png",
                                   this));
-
 #ifdef ENABLE_MAPS
   addItem(new ParamControl("NavSettingTime24h",
                                   "Show ETA in 24h format",
@@ -77,8 +77,16 @@ TogglesPanel::TogglesPanel(QWidget *parent) : ListWidget(parent) {
                                   "../assets/offroad/icon_metric.png",
                                   this));
 #endif
+  if (params.getBool("DisableRadar_Allow")) {
+    addItem(new ParamControl("DisableRadar",
+                             "openpilot Longitudinal Control",
+                             "openpilot will disable the car's radar and will take over control of gas and brakes. Warnning: this disables AEB!",
+                             "../assets/offroad/icon_speed_limit.png",
+                             this));
+
+  }
 
-  bool record_lock = Params().getBool("RecordFrontLock");
+  bool record_lock = params.getBool("RecordFrontLock");
   record_toggle->setEnabled(!record_lock);
 }