publish experimental mode state (#26512)

* publish experimental mode state

* remove that

cereal

@@ -1 +1 @@
-Subproject commit afafa0a2a537d775842ab2e1bf20cb9a33b34f9a
+Subproject commit 3bae09cf6527674d7eda3a9956242aad94a8f3d2

selfdrive/controls/controlsd.py

@@ -777,6 +777,7 @@ class Controls:
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
     controlsState.canErrorCounter = self.can_rcv_timeout_counter
+    controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:

selfdrive/ui/qt/onroad.cc

@@ -446,6 +446,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.save();
 
   const UIScene &scene = s->scene;
+  SubMaster &sm = *(s->sm);
+
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
@@ -461,8 +463,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // paint path
   QLinearGradient bg(0, height(), 0, height() / 4);
   float start_hue, end_hue;
-  if (scene.experimental_mode) {
+  if (sm["controlsState"].getControlsState().getExperimentalMode()) {
-    const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
+    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration();
     float acceleration_future = 0;
     if (acceleration.getZ().size() > 16) {
       acceleration_future = acceleration.getX()[16];  // 2.5 seconds
@@ -555,7 +557,7 @@ void AnnotatedCameraWidget::paintGL() {
     } else if (v_ego > 15) {
       wide_cam_requested = false;
     }
-    wide_cam_requested = wide_cam_requested && s->scene.experimental_mode;
+    wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
     // TODO: also detect when ecam vision stream isn't available
     // for replay of old routes, never go to widecam
     wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;

selfdrive/ui/ui.cc

@@ -174,7 +174,6 @@ void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
   s->scene.map_on_left = params.getBool("NavSettingLeftSide");
-  s->scene.experimental_mode = params.getBool("ExperimentalMode");
 }
 
 void UIState::updateStatus() {

selfdrive/ui/ui.h

@@ -104,7 +104,7 @@ typedef struct UIScene {
   QPointF lead_vertices[2];
 
   float light_sensor;
-  bool started, ignition, is_metric, map_on_left, longitudinal_control, experimental_mode;
+  bool started, ignition, is_metric, map_on_left, longitudinal_control;
   uint64_t started_frame;
 } UIScene;