ParamWatcher is nice

selfdrive/ui/qt/offroad/settings.cc

@@ -95,6 +95,17 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                              "your steering wheel distance button."),
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
+
+  // Watch param to update the personality setting in the UI
+  ParamWatcher *lp_watch = new ParamWatcher(this);
+  lp_watch->addParam("LongitudinalPersonality");
+  QObject::connect(lp_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    lp_watch->addParam("LongitudinalPersonality");
+    if (isVisible()) {
+      long_personality_setting->refresh();
+    }
+  });
+
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -128,11 +139,6 @@ void TogglesPanel::showEvent(QShowEvent *event) {
   updateToggles();
 }
 
-void TogglesPanel::updatePersonalitySetting(int personality) {
-  // Update the personality setting in the UI
-  long_personality_setting->setCheckedButton(personality);
-}
-
 void TogglesPanel::updateToggles() {
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
@@ -346,23 +352,8 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
   }
 }
 
-void SettingsWindow::updateState(const UIState &s) {
-  const SubMaster &sm = *(s.sm);
-
-  if (sm.updated("longitudinalPlan")) {
-    auto personality = sm["longitudinalPlan"].getLongitudinalPlan().getPersonality();
-    if (personality != s.scene.personality && s.scene.started) {
-      emit updatePersonalitySetting(static_cast<int>(personality));
-    }
-    uiState()->scene.personality = personality;
-  }
-}
-
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
-  // setup uiState updates
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &SettingsWindow::updateState);
-
   // setup two main layouts
   sidebar_widget = new QWidget;
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
@@ -394,7 +385,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
-  QObject::connect(this, &SettingsWindow::updatePersonalitySetting, toggles, &TogglesPanel::updatePersonalitySetting);
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},

selfdrive/ui/qt/offroad/settings.h

@@ -11,7 +11,6 @@
 #include <QWidget>
 
 
-#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
@@ -23,9 +22,6 @@ public:
   explicit SettingsWindow(QWidget *parent = 0);
   void setCurrentPanel(int index, const QString &param = "");
 
-private slots:
-  void updateState(const UIState &s);
-
 protected:
   void showEvent(QShowEvent *event) override;
 
@@ -34,7 +30,6 @@ signals:
   void reviewTrainingGuide();
   void showDriverView();
   void expandToggleDescription(const QString &param);
-  void updatePersonalitySetting(int personality);
 
 private:
   QPushButton *sidebar_alert_widget;
@@ -68,7 +63,6 @@ public:
 
 public slots:
   void expandToggleDescription(const QString &param);
-  void updatePersonalitySetting(int personality);
 
 private:
   Params params;

selfdrive/ui/qt/widgets/controls.h

@@ -8,6 +8,7 @@
 #include <QHBoxLayout>
 #include <QLabel>
 #include <QPainter>
+#include <QDebug>
 #include <QPushButton>
 
 #include "common/params.h"
@@ -234,8 +235,13 @@ public:
     }
   }
 
-  void setCheckedButton(int id) {
-    button_group->button(id)->setChecked(true);
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
   }
 
 private:

selfdrive/ui/ui.cc

@@ -248,7 +248,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "longitudinalPlan",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
   });
 
   Params params;

selfdrive/ui/ui.h

@@ -158,7 +158,6 @@ typedef struct UIScene {
 
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
-  cereal::LongitudinalPersonality personality;
   bool world_objects_visible = false;
   uint64_t started_frame;
 } UIScene;