From 43ce7165c4eee9af167a650decdb8c3f11195d8d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 22 Mar 2021 20:55:57 -0700
Subject: [PATCH] Remove lane change toggle and default LDW to off (#20442)

* remove lane change toggle and default LDW to off

* update refs
---
 common/params_pyx.pyx                     | 1 -
 selfdrive/controls/lib/lateral_planner.py | 4 +---
 selfdrive/manager/manager.py              | 3 +--
 selfdrive/test/process_replay/ref_commit  | 2 +-
 selfdrive/ui/qt/offroad/settings.cc       | 6 ------
 5 files changed, 3 insertions(+), 13 deletions(-)

diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 4f28881ce..c950bd3cf 100755
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -49,7 +49,6 @@ keys = {
   b"LastUpdateTime": [TxType.PERSISTENT],
   b"LiveParameters": [TxType.PERSISTENT],
   b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  b"LaneChangeEnabled": [TxType.PERSISTENT],
   b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 0aa2da55a..9958c2231 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -8,7 +8,6 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT, MPC_N, CAR_ROTATION_RADIUS
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
 from selfdrive.config import Conversions as CV
-from common.params import Params
 import cereal.messaging as messaging
 from cereal import log
 
@@ -54,7 +53,6 @@ class LateralPlanner():
 
     self.setup_mpc()
     self.solution_invalid_cnt = 0
-    self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1'
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
@@ -104,7 +102,7 @@ class LateralPlanner():
     elif sm['carState'].rightBlinker:
       self.lane_change_direction = LaneChangeDirection.right
 
-    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not self.lane_change_enabled):
+    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index b6afafb91..e226c1bf7 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -37,11 +37,10 @@ def manager_init(spinner=None):
     ("HasAcceptedTerms", "0"),
     ("HasCompletedSetup", "0"),
     ("IsUploadRawEnabled", "1"),
-    ("IsLdwEnabled", "1"),
+    ("IsLdwEnabled", "0"),
     ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
     ("OpenpilotEnabledToggle", "1"),
     ("VisionRadarToggle", "0"),
-    ("LaneChangeEnabled", "1"),
     ("IsDriverViewEnabled", "0"),
   ]
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 6276af3ea..dc8060123 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f88eda1b667eac0654f65281a16e7713836cb705
\ No newline at end of file
+3da639f754563292103525345ec26e384e4cb9a5
\ No newline at end of file
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index b08617b54..025711510 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -27,12 +27,6 @@ QWidget * toggles_panel() {
                                             "../assets/offroad/icon_openpilot.png"
                                               ));
   toggles_list->addWidget(horizontal_line());
-  toggles_list->addWidget(new ParamControl("LaneChangeEnabled",
-                                            "Enable Lane Change Assist",
-                                            "Perform assisted lane changes with openpilot by checking your surroundings for safety, activating the turn signal and gently nudging the steering wheel towards your desired lane. openpilot is not capable of checking if a lane change is safe. You must continuously observe your surroundings to use this feature.",
-                                            "../assets/offroad/icon_road.png"
-                                              ));
-  toggles_list->addWidget(horizontal_line());
   toggles_list->addWidget(new ParamControl("IsLdwEnabled",
                                             "Enable Lane Departure Warnings",
                                             "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).",