wip

selfdrive/ui/qt/offroad/onboarding.cc

@@ -183,8 +183,8 @@ void DeclinePage::showEvent(QShowEvent *event) {
 void OnboardingWindow::updateActiveScreen() {
   if (!accepted_terms) {
     setCurrentIndex(0);
-  // } else if (!training_done && !params.getBool("Passive")) {
-   //  setCurrentIndex(1);
+  } else if (!training_done) {
+    setCurrentIndex(1);
   } else {
     emit onboardingDone();
   }
@@ -199,7 +199,7 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   TermsPage* terms = new TermsPage(this);
   addWidget(terms);
   connect(terms, &TermsPage::acceptedTerms, [=]() {
-    Params().put("HasAcceptedTerms", current_terms_version);
+    params.put("HasAcceptedTerms", current_terms_version);
     accepted_terms = true;
     updateActiveScreen();
   });
@@ -209,7 +209,7 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   addWidget(tr);
   connect(tr, &TrainingGuide::completedTraining, [=]() {
     training_done = true;
-    Params().put("CompletedTrainingVersion", current_training_version);
+    params.put("CompletedTrainingVersion", current_training_version);
     updateActiveScreen();
   });
 
@@ -230,11 +230,5 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
       background-color: #4F4F4F;
     }
   )");
-  
- // # Oscar sez
-  Params().put("HasAcceptedTerms", current_terms_version);
-  Params().put("CompletedTrainingVersion", current_training_version);
-  accepted_terms = true;
-  emit onboardingDone();
   updateActiveScreen();
 }

selfdrive/ui/qt/offroad/settings.cc

@@ -2,6 +2,8 @@
 
 #include <cassert>
 #include <cmath>
+#include <iomanip>
+#include <iostream>
 #include <string>
 #include <tuple>
 #include <vector>
@@ -25,9 +27,9 @@
 #include "selfdrive/ui/qt/qt_window.h"
 
 #include "selfdrive/frogpilot/navigation/ui/navigation_settings.h"
-#include "selfdrive/frogpilot/ui/control_settings.h"
-#include "selfdrive/frogpilot/ui/vehicle_settings.h"
-#include "selfdrive/frogpilot/ui/visual_settings.h"
+#include "selfdrive/frogpilot/ui/qt/offroad/control_settings.h"
+#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h"
+#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -97,9 +99,14 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
   long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
                                           tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
-                                             "In relaxed mode openpilot will stay further away from lead cars."),
+                                             "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
+                                             "your steering wheel distance button."),
                                           "../assets/offroad/icon_speed_limit.png",
                                           longi_button_texts);
+
+  // set up uiState update for personality setting
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
+
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -110,7 +117,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     toggles[param.toStdString()] = toggle;
 
     // insert longitudinal personality after NDOG toggle
-    if (param == "DisengageOnAccelerator" && !params.getInt("AdjustablePersonalities")) {
+    if (param == "DisengageOnAccelerator") {
       addItem(long_personality_setting);
     }
   }
@@ -129,6 +136,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
 }
 
+void TogglesPanel::updateState(const UIState &s) {
+  const SubMaster &sm = *(s.sm);
+
+  if (sm.updated("controlsState")) {
+    auto personality = sm["controlsState"].getControlsState().getPersonality();
+    if (personality != s.scene.personality && s.scene.started && isVisible()) {
+      long_personality_setting->setCheckedButton(static_cast<int>(personality));
+    }
+    uiState()->scene.personality = personality;
+  }
+}
+
 void TogglesPanel::expandToggleDescription(const QString &param) {
   toggles[param.toStdString()]->showDescription();
 }
@@ -138,6 +157,13 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updateToggles() {
+  auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"];
+  disengage_on_accelerator_toggle->setVisible(!params.getBool("AlwaysOnLateral"));
+  auto driver_camera_toggle = toggles["RecordFront"];
+  driver_camera_toggle->setVisible(!(params.getBool("DeviceManagement") && params.getBool("NoLogging") && params.getBool("NoUploads")));
+  auto nav_settings_left_toggle = toggles["NavSettingLeftSide"];
+  nav_settings_left_toggle->setVisible(!params.getBool("FullMap"));
+
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   const QString e2e_description = QString("%1<br>"
@@ -173,7 +199,12 @@ void TogglesPanel::updateToggles() {
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
-      experimental_mode_toggle->setEnabled(!params.getBool("ConditionalExperimental"));
+      bool conditional_experimental = params.getBool("ConditionalExperimental");
+      if (conditional_experimental) {
+        params.putBool("ExperimentalMode", true);
+        experimental_mode_toggle->refresh();
+      }
+      experimental_mode_toggle->setEnabled(!conditional_experimental);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
     } else {
@@ -225,15 +256,13 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(resetCalibBtn);
 
-  if (!params.getBool("Passive")) {
-    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
-    connect(retrainingBtn, &ButtonControl::clicked, [=]() {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
-        emit reviewTrainingGuide();
-      }
-    });
-    addItem(retrainingBtn);
-  }
+  auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
+  connect(retrainingBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
+      emit reviewTrainingGuide();
+    }
+  });
+  addItem(retrainingBtn);
 
   if (Hardware::TICI()) {
     auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
@@ -258,44 +287,251 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(translateBtn);
 
   // Delete driving footage button
-  auto deleteFootageBtn = new ButtonControl(tr("Delete Driving Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all "
+  auto deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all "
     "stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space.")
   );
-  connect(deleteFootageBtn, &ButtonControl::clicked, [this]() {
+  connect(deleteDrivingDataBtn, &ButtonControl::clicked, [=]() {
     if (!ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) return;
     std::thread([&] {
+      deleteDrivingDataBtn->setValue(tr("Deleting footage..."));
       std::system("rm -rf /data/media/0/realdata");
+      deleteDrivingDataBtn->setValue(tr("Deleted!"));
+      std::this_thread::sleep_for(std::chrono::seconds(3));
+      deleteDrivingDataBtn->setValue("");
     }).detach();
   });
-  addItem(deleteFootageBtn);
+  addItem(deleteDrivingDataBtn);
 
   // Panda flashing button
-  auto flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), "Use this button to troubleshoot and update the Panda device's firmware.");
-  connect(flashPandaBtn, &ButtonControl::clicked, [this]() {
-    if (!ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) return;
-    QProcess process;
-    // Get Panda type
-    SubMaster &sm = *(uiState()->sm);
-    auto pandaStates = sm["pandaStates"].getPandaStates();
-    // Choose recovery script based on Panda type
-    if (pandaStates.size() != 0) {
-      auto pandaType = pandaStates[0].getPandaType();
-      bool isRedPanda = (pandaType == cereal::PandaState::PandaType::RED_PANDA ||
-                               pandaType == cereal::PandaState::PandaType::RED_PANDA_V2);
-      QString recoveryScript = isRedPanda ? "./recover.sh" : "./recover.py";
-      // Run recovery script and flash Panda
-      process.setWorkingDirectory("/data/openpilot/panda/board");
-      process.start("/bin/sh", QStringList{"-c", recoveryScript});
-      process.waitForFinished();
+  auto flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Use this button to troubleshoot and update the Panda device's firmware."));
+  connect(flashPandaBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) {
+      std::thread([=]() {
+        flashPandaBtn->setValue(tr("Flashing..."));
+
+        QProcess process;
+
+        process.setWorkingDirectory("/data/openpilot/panda/board");
+        process.start("/bin/sh", QStringList{"-c", "./recover.py"});
+        process.waitForFinished();
+        process.start("/bin/sh", QStringList{"-c", "./flash.py"});
+        process.waitForFinished();
+
+        process.setWorkingDirectory("/data/openpilot/panda/tests");
+        process.start("/bin/sh", QStringList{"-c", "python reflash_internal_panda.py"});
+        process.waitForFinished();
+
+        Hardware::soft_reboot();
+      }).detach();
     }
-    // Run the killall script as a redundancy
-    process.setWorkingDirectory("/data/openpilot/panda");
-    process.start("/bin/sh", QStringList{"-c", "pkill -f boardd; PYTHONPATH=.. python -c \"from panda import Panda; Panda().flash()\""});
-    process.waitForFinished();
-    Hardware::reboot();
   });
   addItem(flashPandaBtn);
 
+  // Reset toggle button
+  auto resetTogglesBtn = new ButtonControl(tr("Reset Toggle Settings"), tr("RESET"), tr("Reset your toggle settings back to default."));
+  connect(resetTogglesBtn, &ButtonControl::clicked, [=]() {
+    if (!ConfirmationDialog::confirm(tr("Are you sure you want to completely reset your toggle settings? This is irreversible!"), tr("Reset"), this)) return;
+    std::thread([&] {
+      resetTogglesBtn->setValue(tr("Resetting toggles..."));
+
+      std::system("find /data/params -type f ! -name 'FrogPilotDrives' ! -name 'FrogPilotMinutes' ! -name 'FrogPilotKilometers' -exec rm {} +");
+      std::system("find /persist/params -type f ! -name 'FrogPilotDrives' ! -name 'FrogPilotMinutes' ! -name 'FrogPilotKilometers' -exec rm {} +");
+
+      Hardware::soft_reboot();
+    }).detach();
+  });
+  addItem(resetTogglesBtn);
+
+  // Backup FrogPilot
+  std::vector<QString> frogpilotBackupOptions{tr("Backup"), tr("Delete"), tr("Restore")};
+  FrogPilotButtonsControl *frogpilotBackup = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Backup, delete, or restore your FrogPilot backups."), "", frogpilotBackupOptions);
+
+  connect(frogpilotBackup, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
+    QDir backupDir("/data/backups");
+
+    if (id == 0) {
+      QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1);
+      if (!nameSelection.isEmpty()) {
+        std::thread([=]() {
+          frogpilotBackup->setValue(tr("Backing up..."));
+
+          std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString();
+
+          std::ostringstream commandStream;
+          commandStream << "mkdir -p " << std::quoted(fullBackupPath)
+                        << " && rsync -av /data/openpilot/ " << std::quoted(fullBackupPath + "/");
+          std::string command = commandStream.str();
+
+          int result = std::system(command.c_str());
+          if (result == 0) {
+            std::cout << "Backup successful to " << fullBackupPath << std::endl;
+            frogpilotBackup->setValue(tr("Success!"));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            frogpilotBackup->setValue("");
+          } else {
+            std::cerr << "Backup failed with error code: " << result << std::endl;
+            frogpilotBackup->setValue(tr("Failed..."));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            frogpilotBackup->setValue("");
+          }
+        }).detach();
+      }
+    } else if (id == 1) {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) return;
+        std::thread([=]() {
+          frogpilotBackup->setValue(tr("Deleting..."));
+          QDir dirToDelete(backupDir.absoluteFilePath(selection));
+          if (dirToDelete.removeRecursively()) {
+            frogpilotBackup->setValue(tr("Deleted!"));
+          } else {
+            frogpilotBackup->setValue(tr("Failed..."));
+          }
+          std::this_thread::sleep_for(std::chrono::seconds(3));
+          frogpilotBackup->setValue("");
+        }).detach();
+      }
+    } else {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to restore this version of FrogPilot?"), tr("Restore"), this)) return;
+        std::thread([=]() {
+          frogpilotBackup->setValue(tr("Restoring..."));
+
+          std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString();
+          std::string targetPath = "/data/safe_staging/finalized";
+          std::string consistentFilePath = targetPath + "/.overlay_consistent";
+
+          std::ostringstream commandStream;
+          commandStream << "rsync -av --delete --exclude='.overlay_consistent' " << std::quoted(sourcePath + "/") << " " << std::quoted(targetPath + "/");
+          std::string command = commandStream.str();
+          int result = std::system(command.c_str());
+
+          if (result == 0) {
+            std::cout << "Restore successful from " << sourcePath << " to " << targetPath << std::endl;
+            std::ofstream consistentFile(consistentFilePath);
+            if (consistentFile) {
+              consistentFile.close();
+              std::cout << ".overlay_consistent file created successfully." << std::endl;
+            } else {
+              std::cerr << "Failed to create .overlay_consistent file." << std::endl;
+              frogpilotBackup->setValue(tr("Failed..."));
+              std::this_thread::sleep_for(std::chrono::seconds(3));
+              frogpilotBackup->setValue("");
+            }
+            Hardware::soft_reboot();
+          } else {
+            std::cerr << "Restore failed with error code: " << result << std::endl;
+          }
+        }).detach();
+      }
+    }
+  });
+  addItem(frogpilotBackup);
+
+  // Backup toggles
+  std::vector<QString> toggleBackupOptions{tr("Backup"), tr("Delete"), tr("Restore")};
+  FrogPilotButtonsControl *toggleBackup = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Backup, delete, or restore your toggle backups."), "", toggleBackupOptions);
+
+  connect(toggleBackup, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
+    QDir backupDir("/data/toggle_backups");
+
+    if (id == 0) {
+      QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1);
+      if (!nameSelection.isEmpty()) {
+        std::thread([=]() {
+          toggleBackup->setValue(tr("Backing up..."));
+
+          std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString() + "/";
+
+          std::ostringstream commandStream;
+          commandStream << "mkdir -p " << std::quoted(fullBackupPath)
+                        << " && rsync -av /data/params/d/ " << std::quoted(fullBackupPath);
+          std::string command = commandStream.str();
+
+          int result = std::system(command.c_str());
+          if (result == 0) {
+            std::cout << "Backup successful to " << fullBackupPath << std::endl;
+            toggleBackup->setValue(tr("Success!"));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+          } else {
+            std::cerr << "Backup failed with error code: " << result << std::endl;
+            toggleBackup->setValue(tr("Failed..."));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+          }
+        }).detach();
+      }
+    } else if (id == 1) {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) return;
+        std::thread([=]() {
+          toggleBackup->setValue(tr("Deleting..."));
+          QDir dirToDelete(backupDir.absoluteFilePath(selection));
+          if (dirToDelete.removeRecursively()) {
+            toggleBackup->setValue(tr("Deleted!"));
+          } else {
+            toggleBackup->setValue(tr("Failed..."));
+          }
+          std::this_thread::sleep_for(std::chrono::seconds(3));
+          toggleBackup->setValue("");
+        }).detach();
+      }
+    } else {
+      QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::NoDotAndDotDot);
+
+      QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this);
+      if (!selection.isEmpty()) {
+        if (!ConfirmationDialog::confirm(tr("Are you sure you want to restore this toggle backup?"), tr("Restore"), this)) return;
+        std::thread([=]() {
+          toggleBackup->setValue(tr("Restoring..."));
+
+          std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString() + "/";
+          std::string targetPath = "/data/params/d/";
+
+          std::ostringstream commandStream;
+          commandStream << "rsync -av --delete " << std::quoted(sourcePath) << " " << std::quoted(targetPath);
+          std::string command = commandStream.str();
+
+          int result = std::system(command.c_str());
+
+          if (result == 0) {
+            std::cout << "Restore successful from " << sourcePath << " to " << targetPath << std::endl;
+            toggleBackup->setValue(tr("Success!"));
+            paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+            paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+          } else {
+            std::cerr << "Restore failed with error code: " << result << std::endl;
+            toggleBackup->setValue(tr("Failed..."));
+            std::this_thread::sleep_for(std::chrono::seconds(3));
+            toggleBackup->setValue("");
+          }
+        }).detach();
+      }
+    }
+  });
+  addItem(toggleBackup);
+
+  auto lockDoorsButton = new ButtonControl(tr("Lock Doors"), tr("LOCK"), tr("Use this button to lock the doors on Toyota/Lexus vehicles."));
+  connect(lockDoorsButton, &ButtonControl::clicked, [this]() {
+    QProcess *process = new QProcess(this);
+    QString scriptPath = "/data/openpilot/frogpilot/controls/lib/lock_doors.py";
+    QStringList arguments{"--lock"};
+    process->start("python3", QStringList() << scriptPath << arguments);
+  });
+  addItem(lockDoorsButton);
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
       btn->setEnabled(offroad);
@@ -311,6 +547,11 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   power_layout->addWidget(reboot_btn);
   QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
 
+  QPushButton *softreboot_btn = new QPushButton(tr("Soft Reboot"));
+  softreboot_btn->setObjectName("softreboot_btn");
+  power_layout->addWidget(softreboot_btn);
+  QObject::connect(softreboot_btn, &QPushButton::clicked, this, &DevicePanel::softreboot);
+
   QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
   poweroff_btn->setObjectName("poweroff_btn");
   power_layout->addWidget(poweroff_btn);
@@ -321,6 +562,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   setStyleSheet(R"(
+    #softreboot_btn { height: 120px; border-radius: 15px; background-color: #e2e22c; }
+    #softreboot_btn:pressed { background-color: #ffe224; }
     #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
     #reboot_btn:pressed { background-color: #4a4a4a; }
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
@@ -366,6 +609,18 @@ void DevicePanel::reboot() {
   }
 }
 
+void DevicePanel::softreboot() {
+  if (!uiState()->engaged()) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to soft reboot?"), tr("Soft Reboot"), this)) {
+      if (!uiState()->engaged()) {
+        params.putBool("DoSoftReboot", true);
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Soft Reboot"), this);
+  }
+}
+
 void DevicePanel::poweroff() {
   if (!uiState()->engaged()) {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
@@ -379,6 +634,15 @@ void DevicePanel::poweroff() {
   }
 }
 
+void SettingsWindow::hideEvent(QHideEvent *event) {
+  closeParentToggle();
+
+  parentToggleOpen = false;
+  subParentToggleOpen = false;
+
+  previousScrollPosition = 0;
+}
+
 void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }
@@ -396,33 +660,34 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   // setup two main layouts
   sidebar_widget = new QWidget;
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
-  sidebar_layout->setMargin(0);
   panel_widget = new QStackedWidget();
 
   // close button
   QPushButton *close_btn = new QPushButton(tr("← Back"));
   close_btn->setStyleSheet(R"(
     QPushButton {
-      font-size: 50px;
-      padding-bottom: 0px;
-      border 1px grey solid;
+      color: white;
       border-radius: 25px;
-      background-color: #292929;
+      background: #292929;
+      font-size: 50px;
       font-weight: 500;
     }
     QPushButton:pressed {
-      background-color: #3B3B3B;
+      color: #ADADAD;
     }
   )");
   close_btn->setFixedSize(300, 125);
   sidebar_layout->addSpacing(10);
   sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
   QObject::connect(close_btn, &QPushButton::clicked, [this]() {
-    if (frogPilotTogglesOpen) {
-      frogPilotTogglesOpen = false;
-      this->closeParentToggle();
+    if (subParentToggleOpen) {
+      closeSubParentToggle();
+      subParentToggleOpen = false;
+    } else if (parentToggleOpen) {
+      closeParentToggle();
+      parentToggleOpen = false;
     } else {
-      this->closeSettings();
+      closeSettings();
     }
   });
 
@@ -435,20 +700,19 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
   QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric);
 
-  // FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
-  // QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
-  // QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});
+  FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openSubParentToggle, this, [this]() {subParentToggleOpen = true;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {parentToggleOpen = true;});
 
   FrogPilotVisualsPanel *frogpilotVisuals = new FrogPilotVisualsPanel(this);
-  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
-  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {parentToggleOpen = true;});
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
     {tr("Network"), new Networking(this)},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
-    // {tr("Controls"), frogpilotControls},
+    {tr("Controls"), frogpilotControls},
     {tr("Navigation"), new FrogPilotNavigationPanel(this)},
     {tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
     {tr("Visuals"), frogpilotVisuals},
@@ -484,21 +748,24 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     ScrollView *panel_frame = new ScrollView(panel, this);
     panel_widget->addWidget(panel_frame);
 
-    if (name == tr("Controls") || name == tr("Visuals")) {
+    if (name == tr("Controls")) {
       QScrollBar *scrollbar = panel_frame->verticalScrollBar();
 
       QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) {
-        if (!frogPilotTogglesOpen) {
+        if (!parentToggleOpen) {
           previousScrollPosition = value;
         }
       });
 
       QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() {
-        panel_frame->restorePosition(previousScrollPosition);
+        if (!parentToggleOpen) {
+          panel_frame->restorePosition(previousScrollPosition);
+        }
       });
     }
 
     QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      closeParentToggle();
       previousScrollPosition = 0;
       btn->setChecked(true);
       panel_widget->setCurrentWidget(w);

selfdrive/ui/qt/offroad/settings.h

@@ -11,6 +11,7 @@
 #include <QWidget>
 
 
+#include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
@@ -25,6 +26,9 @@ public:
 protected:
   void showEvent(QShowEvent *event) override;
 
+  // FrogPilot widgets
+  void hideEvent(QHideEvent *event) override;
+
 signals:
   void closeSettings();
   void reviewTrainingGuide();
@@ -33,7 +37,9 @@ signals:
 
   // FrogPilot signals
   void closeParentToggle();
+  void closeSubParentToggle();
   void updateMetric();
+
 private:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
@@ -41,7 +47,9 @@ private:
   QStackedWidget *panel_widget;
 
   // FrogPilot variables
-  bool frogPilotTogglesOpen;
+  bool parentToggleOpen;
+  bool subParentToggleOpen;
+
   int previousScrollPosition;
 };
 
@@ -56,10 +64,14 @@ signals:
 private slots:
   void poweroff();
   void reboot();
+  void softreboot();
   void updateCalibDescription();
 
 private:
   Params params;
+
+  // FrogPilot variables
+  Params paramsMemory{"/dev/shm/params"};
 };
 
 class TogglesPanel : public ListWidget {
@@ -75,6 +87,9 @@ signals:
 public slots:
   void expandToggleDescription(const QString &param);
 
+private slots:
+  void updateState(const UIState &s);
+
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;
@@ -97,7 +112,6 @@ private:
 
   QLabel *onroadLbl;
   LabelControl *versionLbl;
-  ButtonControl *errorLogBtn;
   ButtonControl *installBtn;
   ButtonControl *downloadBtn;
   ButtonControl *targetBranchBtn;
@@ -106,11 +120,6 @@ private:
   ParamWatcher *fs_watch;
 
   // FrogPilot variables
-  void automaticUpdate();
-
-  ButtonControl *updateTime;
-
-  int deviceShutdown;
-  int schedule;
-  int time;
+  Params paramsMemory{"/dev/shm/params"};
+  UIScene &scene;
 };

selfdrive/ui/qt/offroad/software_settings.cc

@@ -2,8 +2,6 @@
 
 #include <cassert>
 #include <cmath>
-#include <iomanip>
-#include <sstream>
 #include <string>
 
 #include <QDebug>
@@ -18,13 +16,14 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "system/hardware/hw.h"
 
+#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h"
 
 void SoftwarePanel::checkForUpdates() {
-  std::system("pkill -SIGUSR1 -f selfdrive.updated");
+  std::system("pkill -SIGUSR1 -f selfdrive.updated.updated");
 }
 
-SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
-  onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off."));
+SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent), scene(uiState()->scene) {
+  onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off or in park."));
   onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;");
   addItem(onroadLbl);
 
@@ -32,40 +31,17 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   versionLbl = new LabelControl(tr("Current Version"), "");
   addItem(versionLbl);
 
-  // update scheduler
-  std::vector<QString> scheduleOptions{tr("Manually"), tr("Daily"), tr("Weekly")};
-  ButtonParamControl *preferredSchedule = new ButtonParamControl("UpdateSchedule", tr("Update Scheduler"),
-                                          tr("Choose the update frequency for FrogPilot's automatic updates.\n\n"
-                                          "This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' experience.\n\n"
-                                          "Weekly updates start at midnight every Sunday."),
-                                          "",
-                                          scheduleOptions);
-  schedule = params.getInt("UpdateSchedule");
-  addItem(preferredSchedule);
-
-  updateTime = new ButtonControl(tr("Update Time"), tr("SELECT"));
-  QStringList hours;
-  for (int h = 0; h < 24; h++) {
-    int displayHour = (h % 12 == 0) ? 12 : h % 12;
-    QString meridiem = (h < 12) ? "AM" : "PM";
-    hours << QString("%1:00 %2").arg(displayHour).arg(meridiem)
-          << QString("%1:30 %2").arg(displayHour).arg(meridiem);
-  }
-   QObject::connect(updateTime, &ButtonControl::clicked, [=]() {
-    int currentHourIndex = params.getInt("UpdateTime");
-    QString currentHourLabel = hours[currentHourIndex];
-
-    QString selection = MultiOptionDialog::getSelection(tr("Select a time to automatically update"), hours, currentHourLabel, this);
-    if (!selection.isEmpty()) {
-      int selectedHourIndex = hours.indexOf(selection);
-      params.putInt("UpdateTime", selectedHourIndex);
-      updateTime->setValue(selection);
-    }
+  // automatic updates toggle
+  ParamControl *automaticUpdatesToggle = new ParamControl("AutomaticUpdates", tr("Automatically Update FrogPilot"),
+                                                       tr("FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi."), "");
+  connect(automaticUpdatesToggle, &ToggleControl::toggleFlipped, [this]() {
+    std::thread([this]() {
+      paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+      std::this_thread::sleep_for(std::chrono::seconds(1));
+      paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+    }).detach();
   });
-  time = params.getInt("UpdateTime");
-  deviceShutdown = params.getInt("DeviceShutdown") * 3600;
-  updateTime->setValue(hours[time]);
-  addItem(updateTime);
+  addItem(automaticUpdatesToggle);
 
   // download update btn
   downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
@@ -74,8 +50,9 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     if (downloadBtn->text() == tr("CHECK")) {
       checkForUpdates();
     } else {
-      std::system("pkill -SIGHUP -f selfdrive.updated");
+      std::system("pkill -SIGHUP -f selfdrive.updated.updated");
     }
+    paramsMemory.putBool("ManualUpdateInitiated", true);
   });
   addItem(downloadBtn);
 
@@ -92,6 +69,11 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
     auto current = params.get("GitBranch");
     QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+    if (!Params("/persist/params").getBool("FrogsGoMoo")) {
+      branches.removeAll("FrogPilot-Development");
+      branches.removeAll("FrogPilot-New");
+      branches.removeAll("MAKE-PRS-HERE");
+    }
     for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
       auto i = branches.indexOf(b);
       if (i >= 0) {
@@ -122,7 +104,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   addItem(uninstallBtn);
 
   // error log button
-  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), "View the error log for debugging purposes when openpilot crashes.");
+  auto errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for openpilot crashes."));
   connect(errorLogBtn, &ButtonControl::clicked, [=]() {
     std::string txt = util::read_file("/data/community/crashes/error.txt");
     ConfirmationDialog::rich(QString::fromStdString(txt), this);
@@ -131,8 +113,6 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
 
   fs_watch = new ParamWatcher(this);
   QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    schedule = params.getInt("UpdateSchedule");
-    time = params.getInt("UpdateTime");
     updateLabels();
   });
 
@@ -141,8 +121,6 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     updateLabels();
   });
 
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &SoftwarePanel::automaticUpdate);
-
   updateLabels();
 }
 
@@ -160,16 +138,15 @@ void SoftwarePanel::updateLabels() {
   fs_watch->addParam("UpdaterState");
   fs_watch->addParam("UpdateAvailable");
 
-  fs_watch->addParam("UpdateSchedule");
-  fs_watch->addParam("UpdateTime");
-
   if (!isVisible()) {
     return;
   }
 
-  // updater only runs offroad
-  onroadLbl->setVisible(is_onroad);
-  downloadBtn->setVisible(!is_onroad);
+  // updater only runs offroad or when parked
+  bool parked = scene.parked;
+
+  onroadLbl->setVisible(is_onroad && !parked);
+  downloadBtn->setVisible(!is_onroad || parked);
 
   // download update
   QString updater_state = QString::fromStdString(params.get("UpdaterState"));
@@ -201,82 +178,9 @@ void SoftwarePanel::updateLabels() {
   versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")));
   versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes")));
 
-  installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable"));
+  installBtn->setVisible((!is_onroad || parked) && params.getBool("UpdateAvailable"));
   installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")));
   installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));
 
-  updateTime->setVisible(params.getInt("UpdateSchedule"));
-
   update();
 }
-
-void SoftwarePanel::automaticUpdate() {
-  static int timer = 0;
-  static std::chrono::system_clock::time_point lastOffroadTime;
-
-  if (!is_onroad) {
-    timer = (timer == 0) ? 0 : std::chrono::duration_cast<std::chrono::seconds>(std::chrono::system_clock::now() - lastOffroadTime).count();
-    lastOffroadTime = std::chrono::system_clock::now();
-  } else {
-    timer = 0;
-  }
-
-  bool isWifiConnected = (*uiState()->sm)["deviceState"].getDeviceState().getNetworkType() == cereal::DeviceState::NetworkType::WIFI;
-  if (schedule == 0 || is_onroad || !isWifiConnected || isVisible()) return;
-
-  static bool isDownloadCompleted = false;
-  if (isDownloadCompleted && params.getBool("UpdateAvailable")) {
-    params.putBool(timer > deviceShutdown ? "DoShutdown" : "DoReboot", true);
-    return;
-  }
-
-  int updateHour = time / 2;
-  int updateMinute = (time % 2) * 30;
-
-  if (updateHour >= 1 && updateHour <= 11 && time >= 24) {
-    updateHour += 12;
-  } else if (updateHour == 12 && time < 24) {
-    updateHour = 0;
-  }
-
-  std::time_t currentTimeT = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now());
-  std::tm now = *std::localtime(&currentTimeT);
-
-  static bool updateCheckedToday = false;
-  static int lastCheckedDay = now.tm_yday;
-  if (lastCheckedDay != now.tm_yday) {
-    updateCheckedToday = false;
-    lastCheckedDay = now.tm_yday;
-  }
-
-  if (now.tm_hour != updateHour || now.tm_min < updateMinute) return;
-
-  std::string lastUpdateStr = params.get("Updated");
-  std::tm lastUpdate = {};
-  std::istringstream iss(lastUpdateStr);
-
-  if (iss >> std::get_time(&lastUpdate, "%Y-%m-%d %H:%M:%S")) {
-    lastUpdate.tm_year -= 1900;
-    lastUpdate.tm_mon -= 1;
-  }
-  std::time_t lastUpdateTimeT = std::mktime(&lastUpdate);
-
-  if (lastUpdate.tm_yday == now.tm_yday) {
-    return;
-  }
-
-  if (!isDownloadCompleted) {
-    std::chrono::hours durationSinceLastUpdate = std::chrono::duration_cast<std::chrono::hours>(std::chrono::system_clock::now() - std::chrono::system_clock::from_time_t(lastUpdateTimeT));
-    int daysSinceLastUpdate = durationSinceLastUpdate.count() / 24;
-
-    if ((schedule == 1 && daysSinceLastUpdate >= 1) || (schedule == 2 && (now.tm_yday / 7) != (std::localtime(&lastUpdateTimeT)->tm_yday / 7))) {
-      if (downloadBtn->text() == tr("CHECK") && !updateCheckedToday) {
-        checkForUpdates();
-        updateCheckedToday = true;
-      } else {
-        std::system("pkill -SIGHUP -f selfdrive.updated");
-        isDownloadCompleted = true;
-      }
-    }
-  }
-}