works but at what cost

selfdrive/ui/qt/offroad/settings.cc

@@ -128,6 +128,11 @@ void TogglesPanel::showEvent(QShowEvent *event) {
   updateToggles();
 }
 
+void TogglesPanel::updatePersonalitySetting(int personality) {
+  qDebug() << "updatePersonalitySetting" << personality;
+  long_personality_setting->setActiveButton(personality);
+}
+
 void TogglesPanel::updateToggles() {
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
@@ -341,6 +346,10 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
   }
 }
 
+//void SettingsWindow::updatePersonalitySetting(int personality) {
+//  emit updatePersonalitySetting1(personality);
+//}
+
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   // setup two main layouts
@@ -374,6 +383,14 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+//  QObject::connect(this, &SettingsWindow::updatePersonalitySetting, toggles, [toggles](int personality) {
+////    qDebug() << "HERE";
+////    emit updatePersonalitySetting(personality);
+//    toggles->updatePersonalitySetting(personality);
+//  });
+  QObject::connect(this, &SettingsWindow::updatePersonalitySetting, toggles, &TogglesPanel::updatePersonalitySetting);
+
+//  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},

selfdrive/ui/qt/offroad/settings.h

@@ -22,6 +22,9 @@ public:
   explicit SettingsWindow(QWidget *parent = 0);
   void setCurrentPanel(int index, const QString &param = "");
 
+//public slots:
+//  void updatePersonalitySetting(int);
+
 protected:
   void showEvent(QShowEvent *event) override;
 
@@ -30,6 +33,8 @@ signals:
   void reviewTrainingGuide();
   void showDriverView();
   void expandToggleDescription(const QString &param);
+  void updatePersonalitySetting(int personality);
+//  void updatePersonalitySetting1(int personality);
 
 private:
   QPushButton *sidebar_alert_widget;
@@ -63,6 +68,11 @@ public:
 
 public slots:
   void expandToggleDescription(const QString &param);
+  void updatePersonalitySetting(int);
+//  void updateState(const UIState &s);
+
+//private slots:
+//  void updateState(const UIState &s);
 
 private:
   Params params;

selfdrive/ui/qt/widgets/controls.h

@@ -230,6 +230,10 @@ public:
     });
   }
 
+  void setActiveButton(int id) {
+    button_group->button(id)->setChecked(true);
+  }
+
   void setEnabled(bool enable) {
     for (auto btn : button_group->buttons()) {
       btn->setEnabled(enable);

selfdrive/ui/qt/window.cc

@@ -4,10 +4,18 @@
 
 #include "system/hardware/hw.h"
 
+void MainWindow::updateState(const UIState &s) {
+  qDebug() << "updateState" << static_cast<int>(s.scene.personality);
+  emit updatePersonalitySetting(static_cast<int>(s.scene.personality));
+//  settingsWindow->updatePersonalitySetting(static_cast<int>(s.scene.personality));
+}
+
 MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout = new QStackedLayout(this);
   main_layout->setMargin(0);
 
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &MainWindow::updateState);
+
   homeWindow = new HomeWindow(this);
   main_layout->addWidget(homeWindow);
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
@@ -15,6 +23,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
 
   settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
+  QObject::connect(this, &MainWindow::updatePersonalitySetting, settingsWindow, &SettingsWindow::updatePersonalitySetting);
   QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
   QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
     onboardingWindow->showTrainingGuide();

selfdrive/ui/qt/window.h

@@ -13,6 +13,12 @@ class MainWindow : public QWidget {
 public:
   explicit MainWindow(QWidget *parent = 0);
 
+private slots:
+  void updateState(const UIState &s);
+
+signals:
+  void updatePersonalitySetting(int);
+
 private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void openSettings(int index = 0, const QString &param = "");

selfdrive/ui/ui.cc

@@ -3,6 +3,7 @@
 #include <algorithm>
 #include <cassert>
 #include <cmath>
+#include <iostream>
 
 #include <QtConcurrent>
 
@@ -206,6 +207,11 @@ static void update_state(UIState *s) {
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
     scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
+  if (sm.updated("longitudinalPlan")) {
+    auto plan = sm["longitudinalPlan"].getLongitudinalPlan();
+    scene.personality = plan.getPersonality();
+    std::cout << "Personality: " << static_cast<int>(scene.personality) << std::endl;
+  }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 
   scene.world_objects_visible = scene.world_objects_visible ||
@@ -248,7 +254,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "longitudinalPlan",
   });
 
   Params params;

selfdrive/ui/ui.h

@@ -158,6 +158,7 @@ typedef struct UIScene {
 
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
+  cereal::LongitudinalPersonality personality;
   bool world_objects_visible = false;
   uint64_t started_frame;
 } UIScene;