ui: move alpha longitudinal control toggle to Developer panel

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -24,6 +24,21 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(longManeuverToggle);
 
+  experimentalLongitudinalToggle = new ParamControl(
+    "ExperimentalLongitudinalEnabled",
+    tr("openpilot Longitudinal Control (Alpha)"),
+    QString("<b>%1</b><br><br>%2")
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+    "../assets/offroad/icon_speed_limit.png"
+  );
+  experimentalLongitudinalToggle->setConfirmation(true, false);
+  QObject::connect(experimentalLongitudinalToggle, &ParamControl::toggleFlipped, [=]() {
+    updateToggles(offroad);
+  });
+  addItem(experimentalLongitudinalToggle);
+
   // Joystick and longitudinal maneuvers should be hidden on release branches
   is_release = params.getBool("IsReleaseBranch");
 
@@ -34,18 +49,40 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 void DeveloperPanel::updateToggles(bool _offroad) {
   for (auto btn : findChildren<ParamControl *>()) {
     btn->setVisible(!is_release);
-    btn->setEnabled(_offroad);
+
+    /*
+     * experimentalLongitudinalToggle should be toggelable when:
+     * - visible, and
+     * - during onroad & offroad states
+     */
+    if (btn != experimentalLongitudinalToggle) {
+      btn->setEnabled(_offroad);
+    }
   }
 
-  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control
   auto cp_bytes = params.get("CarParamsPersistent");
   if (!cp_bytes.empty()) {
     AlignedBuffer aligned_buf;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
+      params.remove("ExperimentalLongitudinalEnabled");
+      experimentalLongitudinalToggle->setEnabled(false);
+    }
+
+    /*
+     * experimentalLongitudinalToggle should be visible when:
+     * - is not a release branch, and
+     * - the car supports experimental longitudinal control (alpha)
+     */
+    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
   } else {
     longManeuverToggle->setEnabled(false);
+    experimentalLongitudinalToggle->setVisible(false);
   }
 
   offroad = _offroad;

selfdrive/ui/qt/offroad/developer_panel.h

@@ -12,6 +12,7 @@ private:
   Params params;
   ParamControl* joystickToggle;
   ParamControl* longManeuverToggle;
+  ParamControl* experimentalLongitudinalToggle;
   bool is_release;
   bool offroad;
 

selfdrive/ui/qt/offroad/settings.cc

@@ -24,15 +24,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("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."),
       "../assets/img_chffr_wheel.png",
     },
-    {
-      "ExperimentalLongitudinalEnabled",
-      tr("openpilot Longitudinal Control (Alpha)"),
-      QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
-      "../assets/offroad/icon_speed_limit.png",
-    },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
@@ -101,11 +92,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // Toggles with confirmation dialogs
   toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
   toggles["ExperimentalMode"]->setConfirmation(true, true);
-  toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
-
-  connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
-    updateToggles();
-  });
 }
 
 void TogglesPanel::updateState(const UIState &s) {
@@ -130,7 +116,6 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 
 void TogglesPanel::updateToggles() {
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
-  auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   const QString e2e_description = QString("%1<br>"
                                           "<h4>%2</h4><br>"
                                           "%3<br>"
@@ -151,10 +136,6 @@ void TogglesPanel::updateToggles() {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
-    }
-    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
       experimental_mode_toggle->setEnabled(true);
@@ -183,7 +164,6 @@ void TogglesPanel::updateToggles() {
     experimental_mode_toggle->refresh();
   } else {
     experimental_mode_toggle->setDescription(e2e_description);
-    op_long_toggle->setVisible(false);
   }
 }
 

selfdrive/ui/translations/main_ar.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation>في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>قد يتم الحصول على التحكم الطولي في openpilot في عمليات التحديث المستقبلية.</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_de.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_es.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>El control longitudinal de openpilot podrá llegar en futuras actualizaciones.</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_fr.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation>Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>Le contrôle longitudinal openpilot pourrait être disponible dans une future mise à jour.</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_ja.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation>この車では、openpilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、openpilotのアクセル制御は無効化されています。アクセル制御をopenpilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>openpilotのアクセル制御は、将来のアップデートで利用できる可能性があります。</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_ko.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished">이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished">openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>O controle longitudinal openpilot poderá vir em uma atualização futura.</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_th.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished">โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished">ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_tr.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished">在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished">openpilot纵向控制可能会在未来的更新中提供。</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -135,10 +135,6 @@
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished">在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
     </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished">openpilot 縱向控制可能會在未來的更新中提供。</translation>
-    </message>
 </context>
 <context>
     <name>DevicePanel</name>