From cb8dc633e9879287901fd68f8052f9e7b09de613 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 9 Mar 2024 02:23:07 -0800
Subject: [PATCH] setChecked activates buttonToggled and already writes param!

---
 selfdrive/controls/lib/longitudinal_planner.py | 4 ----
 selfdrive/ui/qt/offroad/settings.cc            | 2 +-
 selfdrive/ui/qt/widgets/controls.h             | 8 ++++----
 3 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 6e7bbd0b74..70b33bd82d 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -74,9 +74,6 @@ class LongitudinalPlanner:
     except (ValueError, TypeError):
       self.personality = log.LongitudinalPersonality.standard
 
-  def write_param(self):
-    self.params.put('LongitudinalPersonality', self.personality)
-
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == 33 and
@@ -101,7 +98,6 @@ class LongitudinalPlanner:
     for m in messaging.drain_sock(carState_sock, wait_for_one=False):
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in m.carState.buttonEvents):
         self.personality = (self.personality - 1) % 3
-        self.write_param()
 
     self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index a9cd99b415..96c38b5eb6 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -129,6 +129,7 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updatePersonalitySetting(int personality) {
+  // Update the personality setting in the UI + write param
   qDebug() << "updatePersonalitySetting" << personality;
   long_personality_setting->setActiveButton(personality);
 }
@@ -373,7 +374,6 @@ void SettingsWindow::updateState(const UIState &s) {
       qDebug() << "Personality updated";
       emit updatePersonalitySetting(static_cast<int>(personality));
     }
-//    s.scene.personality = personality;
     uiState()->scene.personality = personality;
   }
 }
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index 2f980c894e..f642905852 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -230,16 +230,16 @@ public:
     });
   }
 
-  void setActiveButton(int id) {
-    button_group->button(id)->setChecked(true);
-  }
-
   void setEnabled(bool enable) {
     for (auto btn : button_group->buttons()) {
       btn->setEnabled(enable);
     }
   }
 
+  void setActiveButton(int id) {
+    button_group->button(id)->setChecked(true);
+  }
+
 private:
   std::string key;
   Params params;