From c1794e6f83c6019f960291aea3398161985c8d5b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 10 Jun 2025 01:48:46 -0700
Subject: [PATCH] ui: expose lateral control learning state (#35519)

* add lagd

* add live torque params

* clean up

* too many openpilot is's

* add back

* fix weird pattern causing segfault

* cu

* 10 more lines for "all complete"

* Revert "10 more lines for "all complete""

This reverts commit de1ad0b7386f4c5d9967ea733edbe5bf1df5039c.

* one line
---
 selfdrive/ui/qt/offroad/settings.cc | 45 ++++++++++++++++++++++++++---
 1 file changed, 41 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 4ce33ecc10..28df3afe3f 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -298,9 +298,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 }
 
 void DevicePanel::updateCalibDescription() {
-  QString desc =
-      tr("openpilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.");
+  QString desc = tr("\nopenpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.");
   std::string calib_bytes = params.get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
@@ -318,7 +316,46 @@ void DevicePanel::updateCalibDescription() {
       qInfo() << "invalid CalibrationParams";
     }
   }
-  desc += tr(" Resetting calibration will restart openpilot if the car is powered on.");
+
+  int lag_perc = 0;
+  std::string lag_bytes = params.get("LiveDelay");
+  if (!lag_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size()));
+      lag_perc = cmsg.getRoot<cereal::Event>().getLiveDelay().getCalPerc();
+    } catch (kj::Exception) {
+      qInfo() << "invalid LiveDelay";
+    }
+  }
+  if (lag_perc < 100) {
+    desc += tr("\n\nSteering lag calibration is %1% complete.").arg(lag_perc);
+  } else {
+    desc += tr("\n\nSteering lag calibration is complete.");
+  }
+
+  std::string torque_bytes = params.get("LiveTorqueParameters");
+  if (!torque_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(torque_bytes.data(), torque_bytes.size()));
+      auto torque = cmsg.getRoot<cereal::Event>().getLiveTorqueParameters();
+      // don't add for non-torque cars
+      if (torque.getUseParams()) {
+        int torque_perc = torque.getCalPerc();
+        if (torque_perc < 100) {
+          desc += tr(" Steering torque response calibration is %1% complete.").arg(torque_perc);
+        } else {
+          desc += tr(" Steering torque response calibration is complete.");
+        }
+      }
+    } catch (kj::Exception) {
+      qInfo() << "invalid LiveTorqueParameters";
+    }
+  }
+
+  desc += tr("\n\nopenpilot is continuously calibrating, resetting is rarely required. "
+             "Resetting calibration will restart openpilot if the car is powered on.");
   resetCalibBtn->setDescription(desc);
 }