From 82eab1f333ee9e33973c8aa2de470999f8d68943 Mon Sep 17 00:00:00 2001
From: Alfonso hernandez <hz.alfonso@gmail.com>
Date: Wed, 31 Jan 2024 09:42:42 +0100
Subject: [PATCH] Debug UI: Toggle to display debug UI elements

---
 common/params.cc                    | 1 +
 selfdrive/manager/manager.py        | 1 +
 selfdrive/ui/qt/offroad/settings.cc | 6 ++++++
 selfdrive/ui/qt/onroad.cc           | 3 ++-
 selfdrive/ui/qt/onroad.h            | 3 +++
 selfdrive/ui/ui.cc                  | 1 +
 selfdrive/ui/ui.h                   | 3 +++
 7 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index 9c6600cc159c6c..7ed9331305c2f5 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -189,6 +189,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
+    {"ShowDebugUI", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index be8025bb227b37..09e33b20b40e52 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -47,6 +47,7 @@ def manager_init() -> None:
     ("HandsOnWheelMonitoring", "0"),
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
+    ("ShowDebugUI", "1"),
     ("TurnVisionControl", "1"),
   ]
   if not PC:
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 9184a3e57e80d0..f71e8bf8f92b33 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -83,6 +83,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "Use vision path predictions to estimate the appropriate speed to drive through turns ahead.",
       "../assets/offroad/icon_road.png",
     },
+    {
+      "ShowDebugUI",
+      "Show debug UI elements",
+      "Show UI elements that aid debugging.",
+      "../assets/offroad/icon_calibration.png",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 074297c4720b23..e961e7edcff759 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -333,6 +333,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   vtcSpeed = QString::number(std::nearbyint(vtc_speed));
   vtcColor = tcs_colors[int(vtcState)];
   vtcColor.setAlpha(lpSoruce == cereal::LongitudinalPlan::LongitudinalPlanSource::TURN ? 255 : 100);
+  showDebugUI = s.scene.show_debug_ui;
 
   // DM icon transition
   dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
@@ -439,7 +440,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.setFont(InterFont(66));
   drawText(p, rect().center().x(), 290, speedUnit, 200);
 
-  if (showVTC) {
+  if (showDebugUI && showVTC) {
     drawVisionTurnControllerUI(p, set_speed_rect.left(), set_speed_rect.bottom() + sign_margin, set_speed_rect.width(), 
                                vtcColor, vtcSpeed, 100);
   }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 931e50c69c44e5..594880066469a0 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -72,6 +72,7 @@ class AnnotatedCameraWidget : public CameraWidget {
   Q_PROPERTY(bool showVTC MEMBER showVTC);
   Q_PROPERTY(QString vtcSpeed MEMBER vtcSpeed);
   Q_PROPERTY(QColor vtcColor MEMBER vtcColor);
+  Q_PROPERTY(bool showDebugUI MEMBER showDebugUI);
 
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
@@ -114,6 +115,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   bool showVTC = false;
   QString vtcSpeed;
   QColor vtcColor;
+  
+  bool showDebugUI = false;
 
 protected:
   void paintGL() override;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 20dfb12ef900e2..1af819900c5e9d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -231,6 +231,7 @@ void UIState::updateStatus() {
     if (scene.started) {
       status = STATUS_DISENGAGED;
       scene.started_frame = sm->frame;
+      scene.show_debug_ui = Params().getBool("ShowDebugUI");
     }
     started_prev = scene.started;
     emit offroadTransition(!scene.started);
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 04c0abf706f570..e3eaf0008f17cb 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -133,6 +133,9 @@ typedef struct UIScene {
   mat3 view_from_wide_calib = DEFAULT_CALIBRATION;
   cereal::PandaState::PandaType pandaType;
 
+  // Debug UI
+  bool show_debug_ui;
+
   // modelV2
   float lane_line_probs[4];
   float road_edge_stds[2];