comma four: experimental mode explainer (#37961)

* exp mode confirm dialog

* full

* base

* clean up

* too diff

* fix?

* rmnl

* only toggle if exp mode is confirmed

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

openpilot/selfdrive/ui/mici/layouts/home.py

@@ -174,7 +174,7 @@ class MiciHomeLayout(Widget):
     if self._mouse_down_t is not None:
       if time.monotonic() - self._mouse_down_t > 0.5:
         # long gating for experimental mode - only allow toggle if longitudinal control is available
-        if ui_state.has_longitudinal_control:
+        if ui_state.has_longitudinal_control and ui_state.experimental_mode_confirmed:
           ui_state.experimental_mode = not ui_state.experimental_mode
           ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
         self._mouse_down_t = None

openpilot/selfdrive/ui/mici/layouts/settings/toggles.py

@@ -1,7 +1,10 @@
+from collections.abc import Callable
+
 from openpilot.cereal import log
 
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle, BigToggle, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -9,12 +12,38 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 
+class ExperimentalModeConfirmPage(NavScroller):
+  def __init__(self, on_confirm: Callable[[], None]):
+    super().__init__()
+
+    accept = BigConfirmationCircleButton("enable\nexperimental mode",
+                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                         lambda: self.dismiss(on_confirm))
+
+    self._scroller.add_widgets([
+      GreyBigButton("enabling\nexperimental mode", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
+      GreyBigButton("", "openpilot defaults to driving in chill mode."),
+      GreyBigButton("", "Experimental mode enables alpha-level features that aren't ready for chill mode."),
+      GreyBigButton("End-to-End Longitudinal Control"),
+      GreyBigButton("", "Let the driving model control the gas and brakes."),
+      GreyBigButton("", "openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."),
+      GreyBigButton("", "The set speed will only act as an upper bound."),
+      GreyBigButton("", "This is an alpha quality feature; mistakes should be expected."),
+      GreyBigButton("New Driving Visualization"),
+      GreyBigButton("", "The path will change colors to communicate acceleration intent."),
+      GreyBigButton("", "Red for braking, green for acceleration, and gray for coasting."),
+      accept,
+    ])
+
+
 class TogglesLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
 
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
-    self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
+    self._experimental_btn = BigToggle("experimental mode", initial_state=ui_state.params.get_bool("ExperimentalMode"),
+                                       toggle_callback=self._on_experimental_mode)
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
     ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
@@ -85,3 +114,17 @@ class TogglesLayoutMici(NavScroller):
     # Refresh toggles from params to mirror external changes
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
+
+  def _on_experimental_mode(self, state: bool):
+    if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
+      # Don't show enabled state until confirm
+      self._experimental_btn.set_checked(False)
+
+      def on_confirm():
+        ui_state.params.put_bool("ExperimentalModeConfirmed", True)
+        ui_state.params.put_bool("ExperimentalMode", True)
+        self._experimental_btn.set_checked(True)
+
+      gui_app.push_widget(ExperimentalModeConfirmPage(on_confirm))
+    else:
+      ui_state.params.put_bool("ExperimentalMode", state)

openpilot/selfdrive/ui/ui_state.py

@@ -76,6 +76,7 @@ class UIState:
     self.is_release = self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
+    self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
     self.usbgpu: bool = False
     self.usbgpu_compiled: bool = usbgpu_compiled()
     self.usbgpu_active: bool | None = self.params.get("UsbGpuActive")
@@ -206,6 +207,7 @@ class UIState:
     self.is_metric = self.params.get_bool("IsMetric")
     self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
     # keep usbgpu UI active until offroad transition when gpu disappears
     self.usbgpu = self.sm["deviceState"].chestnutPresent or (self.usbgpu and self.started)
     if not self.usbgpu_compiled: