offroad ui: support storing confirmation of a toggle (#26510)

* show confirmation toggle on first toggle of experimental mode

* don't store confirmation if users toggle off *after* this PR

* refactor

* cleaner

* not true

* try here

common/params.cc

@@ -103,6 +103,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
     {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},

selfdrive/ui/qt/offroad/settings.cc

@@ -28,20 +28,18 @@
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon, confirm
-  std::vector<std::tuple<QString, QString, QString, QString, bool>> toggle_defs{
+  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
     {
       "OpenpilotEnabledToggle",
       tr("Enable openpilot"),
       tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
       "../assets/offroad/icon_openpilot.png",
-      false,
     },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
       "",
       "../assets/offroad/icon_road.png",
-      false,
     },
     {
       "ExperimentalLongitudinalEnabled",
@@ -50,35 +48,30 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB)."))
       .arg(tr("openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control.")),
       "../assets/offroad/icon_speed_limit.png",
-      true,
     },
     {
       "IsLdwEnabled",
       tr("Enable Lane Departure Warnings"),
       tr("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 31 mph (50 km/h)."),
       "../assets/offroad/icon_warning.png",
-      false,
     },
     {
       "IsMetric",
       tr("Use Metric System"),
       tr("Display speed in km/h instead of mph."),
       "../assets/offroad/icon_metric.png",
-      false,
     },
     {
       "RecordFront",
       tr("Record and Upload Driver Camera"),
       tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
       "../assets/offroad/icon_monitoring.png",
-      false,
     },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
       tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
       "../assets/offroad/icon_disengage_on_accelerator.svg",
-      false,
     },
 #ifdef ENABLE_MAPS
     {
@@ -86,20 +79,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Show ETA in 24h Format"),
       tr("Use 24h format instead of am/pm"),
       "../assets/offroad/icon_metric.png",
-      false,
     },
     {
       "NavSettingLeftSide",
       tr("Show Map on Left Side of UI"),
       tr("Show map on left side when in split screen view."),
       "../assets/offroad/icon_road.png",
-      false,
     },
 #endif
   };
 
-  for (auto &[param, title, desc, icon, confirm] : toggle_defs) {
+  for (auto &[param, title, desc, icon] : toggle_defs) {
-    auto toggle = new ParamControl(param, title, desc, icon, confirm, this);
+    auto toggle = new ParamControl(param, title, desc, icon, false, this);
 
     bool locked = params.getBool((param + "Lock").toStdString());
     toggle->setEnabled(!locked);
@@ -108,6 +99,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     toggles[param.toStdString()] = toggle;
   }
 
+  // Toggles with confirmation dialogs
+  toggles["ExperimentalMode"]->confirm = true;
+  toggles["ExperimentalMode"]->store_confirm = true;
+  toggles["ExperimentalLongitudinalEnabled"]->confirm = true;
+
   connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
     updateToggles();
   });

selfdrive/ui/qt/widgets/controls.h

@@ -139,13 +139,16 @@ class ParamControl : public ToggleControl {
   Q_OBJECT
 
 public:
-  ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, const bool confirm, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) {
+  ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, const bool _confirm, QWidget *parent = nullptr) : confirm(_confirm), ToggleControl(title, desc, icon, false, parent) {
     key = param.toStdString();
     QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) {
       QString content("<body><h2 style=\"text-align: center;\">" + title + "</h2><br>"
                       "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + getDescription() + "</p></body>");
       ConfirmationDialog dialog(content, tr("Enable"), tr("Cancel"), true, this);
-      if (!confirm || !state || dialog.exec()) {
+
+      bool confirmed = store_confirm && params.getBool(key + "Confirmed");
+      if (!confirm || confirmed || !state || dialog.exec()) {
+        if (store_confirm && state) params.putBool(key + "Confirmed", true);
         params.putBool(key, state);
       } else {
         toggle.togglePosition();
@@ -153,6 +156,9 @@ public:
     });
   }
 
+  bool confirm = false;
+  bool store_confirm = false;
+
   void refresh() {
     if (params.getBool(key) != toggle.on) {
       toggle.togglePosition();