From 29d984e42fd9ec4ec449e76d6d5ac7390e4d900e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 18 May 2025 01:48:27 -0400
Subject: [PATCH] refactor description

---
 .../offroad/settings/lateral/mads_settings.cc |  7 ++-
 .../offroad/settings/lateral/mads_settings.h  | 54 ++++++++++++-------
 2 files changed, 39 insertions(+), 22 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index ae0a477247..a653ccbbff 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -40,13 +40,12 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
   list->addItem(madsUnifiedEngagementModeToggle);
 
   // Steering Mode On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering"), tr("Disengage")};
   madsSteeringMode = new ButtonParamControl(
     "MadsSteeringMode",
     tr("Steering Mode on Brake Pedal"),
     "",
     "",
-    lateral_on_brake_texts,
+    madsSteeringModeTexts(),
     500);
   QObject::connect(madsSteeringMode, &ButtonParamControl::buttonToggled, [=] {
     updateToggles(offroad);
@@ -67,9 +66,9 @@ void MadsSettings::updateToggles(bool _offroad) {
   auto mads_steering_mode_param = std::atoi(params.get("MadsSteeringMode").c_str());
 
   MadsSteeringMode steering_mode;
-  if (mads_steering_mode_param == int(MadsSteeringMode::REMAIN_ACTIVE)) {
+  if (mads_steering_mode_param == static_cast<int>(MadsSteeringMode::REMAIN_ACTIVE)) {
     steering_mode = MadsSteeringMode::REMAIN_ACTIVE;
-  } else if (mads_steering_mode_param == int(MadsSteeringMode::PAUSE_STEERING)) {
+  } else if (mads_steering_mode_param == static_cast<int>(MadsSteeringMode::PAUSE_STEERING)) {
     steering_mode = MadsSteeringMode::PAUSE_STEERING;
   } else {
     steering_mode = MadsSteeringMode::DISENGAGE;
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index 022f7eb3bd..73715f998b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -13,9 +13,15 @@
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
 enum class MadsSteeringMode {
-  REMAIN_ACTIVE,
-  PAUSE_STEERING,
-  DISENGAGE,
+  REMAIN_ACTIVE = 0,
+  PAUSE_STEERING = 1,
+  DISENGAGE = 2,
+};
+
+struct MadsSteeringModeOption {
+  MadsSteeringMode mode;
+  QString display_text;
+  QString description;
 };
 
 class MadsSettings : public QWidget {
@@ -40,23 +46,35 @@ private:
   ParamControl *madsUnifiedEngagementModeToggle;
   ButtonParamControl *madsSteeringMode;
 
-  static QString madsSteeringModeDescription(MadsSteeringMode mode) {
-    QString remain_active_str = tr("Remain Active: ALC will remain active when the brake pedal is pressed.");
-    QString pause_steering_str = tr("Pause Steering: ALC will pause steering when the brake pedal is pressed.");
-    QString disengage_str = tr("Disengage: ALC will disengage when the brake pedal is pressed.");
+  static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
+    static const std::vector<MadsSteeringModeOption> options = {
+      {MadsSteeringMode::REMAIN_ACTIVE,  tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
+      {MadsSteeringMode::PAUSE_STEERING, tr("Pause"),         tr("Pause: ALC will pause steering when the brake pedal is pressed.")},
+      {MadsSteeringMode::DISENGAGE,      tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
+    };
+    return options;
+  }
 
-    if (mode == MadsSteeringMode::REMAIN_ACTIVE) {
-      remain_active_str = "<font color='white'><b>" + remain_active_str + "</b></font>";
-    } else if (mode == MadsSteeringMode::PAUSE_STEERING) {
-      pause_steering_str = "<font color='white'><b>" + pause_steering_str + "</b></font>";
-    } else if (mode == MadsSteeringMode::DISENGAGE) {
-      disengage_str = "<font color='white'><b>" + disengage_str + "</b></font>";
+  static std::vector<QString> madsSteeringModeTexts() {
+    std::vector<QString> texts;
+    for (const auto& option : madsSteeringModeOptions()) {
+      texts.push_back(option.display_text);
+    }
+    return texts;
+  }
+
+  static QString madsSteeringModeDescription(const MadsSteeringMode mode) {
+    QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.");
+    QString result = base_desc + "<br><br>";
+
+    for (const auto& option : madsSteeringModeOptions()) {
+      QString desc = option.description;
+      if (option.mode == mode) {
+        desc = "<font color='white'><b>" + desc + "</b></font>";
+      }
+      result += desc + "<br>";
     }
 
-    return QString("%1<br><br>%2<br>%3<br>%4")
-             .arg(tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot."))
-             .arg(remain_active_str)
-             .arg(pause_steering_str)
-             .arg(disengage_str);
+    return result;
   }
 };