wip

2024-04-27 13:43:16 -05:00
parent 21363ce751
commit ea1aad5ed1
128 changed files with 3533 additions and 1918 deletions
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/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);