update toggle on cereal message change

selfdrive/ui/qt/offroad/settings.cc

@@ -96,15 +96,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                           "../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();
-    }
-  });
+  // set up uiState update for personality setting
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
@@ -131,6 +124,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
 }
 
+void TogglesPanel::updateState(const UIState &s) {
+  const SubMaster &sm = *(s.sm);
+
+  if (sm.updated("longitudinalPlan")) {
+    auto personality = sm["longitudinalPlan"].getLongitudinalPlan().getPersonalityDEPRECATED();
+    if (personality != s.scene.personality && s.scene.started && isVisible()) {
+      long_personality_setting->setCheckedButton(static_cast<int>(personality));
+    }
+    uiState()->scene.personality = personality;
+  }
+}
+
 void TogglesPanel::expandToggleDescription(const QString &param) {
   toggles[param.toStdString()]->showDescription();
 }

selfdrive/ui/qt/offroad/settings.h

@@ -11,6 +11,7 @@
 #include <QWidget>
 
 
+#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
@@ -64,6 +65,9 @@ public:
 public slots:
   void expandToggleDescription(const QString &param);
 
+private slots:
+  void updateState(const UIState &s);
+
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;

selfdrive/ui/qt/widgets/controls.h

@@ -234,6 +234,10 @@ 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);

selfdrive/ui/ui.h

@@ -155,6 +155,7 @@ typedef struct UIScene {
   vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
 
   bool navigate_on_openpilot = false;
+  cereal::LongitudinalPersonality personality;
 
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;