Cycle onroad when changing offroad-only toggles (#35361)

* bad

* Revert "bad"

This reverts commit 6b5475dd90.

* notify param

* doesn't need to live in low level paramcontrol, rename param

* should work

* fix

* disable while engaged

* note

* fix

* just in case

* param is cleared by manager -- this was all to ensure manager got our `started` transition

* clean up

* and that

* rm

* negative better than generic thing

* timer is needed as it's not clean to fix case where you toggle while no ignition -- you can't go onroad + this allows some nice tolerance time for user to switch 2 toggles

* these aren't required or useful

* add to description

* no longer unlive

* allow reset button too

* another pr -- Revert "allow reset button too"

This reverts commit 5d03edddc8.

* rm space from i18n string

* car is powered on

common/params_keys.h

@@ -93,6 +93,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},

selfdrive/ui/qt/offroad/settings.cc

@@ -17,49 +17,56 @@
 #include "selfdrive/ui/qt/offroad/firehose.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
-  // param, title, desc, icon
-  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+  // param, title, desc, icon, restart needed
+  std::vector<std::tuple<QString, QString, QString, QString, bool>> toggle_defs{
     {
       "OpenpilotEnabledToggle",
       tr("Enable openpilot"),
-      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."),
+      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."),
       "../assets/icons/chffr_wheel.png",
+      true,
     },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
       "",
       "../assets/icons/experimental_white.svg",
+      false,
     },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
       tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
       "../assets/icons/disengage_on_accelerator.svg",
+      false,
     },
     {
       "IsLdwEnabled",
       tr("Enable Lane Departure Warnings"),
       tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
       "../assets/icons/warning.png",
+      false,
     },
     {
       "AlwaysOnDM",
       tr("Always-On Driver Monitoring"),
       tr("Enable driver monitoring even when openpilot is not engaged."),
       "../assets/icons/monitoring.png",
+      false,
     },
     {
       "RecordFront",
       tr("Record and Upload Driver Camera"),
       tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
       "../assets/icons/monitoring.png",
+      true,
     },
     {
       "IsMetric",
       tr("Use Metric System"),
       tr("Display speed in km/h instead of mph."),
       "../assets/icons/metric.png",
+      false,
     },
   };
 
@@ -75,12 +82,24 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // set up uiState update for personality setting
   QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
-  for (auto &[param, title, desc, icon] : toggle_defs) {
+  for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
     bool locked = params.getBool((param + "Lock").toStdString());
     toggle->setEnabled(!locked);
 
+    if (needs_restart && !locked) {
+      toggle->setDescription(toggle->getDescription() + " " + tr("Changing this setting will restart openpilot if the car is powered on."));
+
+      QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) {
+        toggle->setEnabled(!engaged);
+      });
+
+      QObject::connect(toggle, &ParamControl::toggleFlipped, [=](bool state) {
+        params.putBool("OnroadCycleRequested", true);
+      });
+    }
+
     addItem(toggle);
     toggles[param.toStdString()] = toggle;
 

selfdrive/ui/ui.cc

@@ -78,6 +78,11 @@ void UIState::updateStatus() {
     }
   }
 
+  if (engaged() != engaged_prev) {
+    engaged_prev = engaged();
+    emit engagedChanged(engaged());
+  }
+
   // Handle onroad/offroad transition
   if (scene.started != started_prev || sm->frame == 1) {
     if (scene.started) {

selfdrive/ui/ui.h

@@ -81,6 +81,7 @@ public:
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
+  void engagedChanged(bool engaged);
 
 private slots:
   void update();
@@ -88,6 +89,7 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = false;
+  bool engaged_prev = false;
 };
 
 UIState *uiState();

system/hardware/hardwared.py

@@ -34,6 +34,7 @@ CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
 PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
+ONROAD_CYCLE_TIME = 1  # seconds to wait offroad after requesting an onroad cycle
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -170,6 +171,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   onroad_conditions: dict[str, bool] = {
     "ignition": False,
+    "not_onroad_cycle": True,
   }
   startup_conditions: dict[str, bool] = {}
   startup_conditions_prev: dict[str, bool] = {}
@@ -195,6 +197,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   should_start_prev = False
   in_car = False
   engaged_prev = False
+  offroad_cycle_count = 0
 
   params = Params()
   power_monitor = PowerMonitoring()
@@ -211,6 +214,12 @@ def hardware_thread(end_event, hw_queue) -> None:
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
+    # handle requests to cycle system started state
+    if params.get_bool("OnroadCycleRequested"):
+      params.put_bool("OnroadCycleRequested", False)
+      offroad_cycle_count = sm.frame
+    onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
+
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
       # Set ignition based on any panda connected
@@ -231,7 +240,7 @@ def hardware_thread(end_event, hw_queue) -> None:
         cloudlog.error("panda timed out onroad")
 
     # Run at 2Hz, plus either edge of ignition
-    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
+    ign_edge = (started_ts is not None) != all(onroad_conditions.values())
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue