From 91f190ecd3f8fe65ba9d705e1e48581ddddfcea4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 4 Jan 2025 10:19:07 -0500
Subject: [PATCH] more

---
 .../qt/offroad/settings/sunnypilot_panel.cc       | 15 ++++++++++-----
 .../qt/offroad/settings/sunnypilot_panel.h        |  3 ++-
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
index eddc701f93..38b62a229f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.cc
@@ -24,6 +24,7 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
     tr("Modular Assistive Driving System (MADS)"),
     tr("Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement."),
     "");
+  madsToggle->setConfirmation(true, false);
   list->addItem(madsToggle);
 
   SubPanelButton *madsSettingsButton = new SubPanelButton(tr("Customize MADS"));
@@ -32,6 +33,7 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
     sunnypilotScroller->setLastScrollPosition();
     main_layout->setCurrentWidget(madsWidget);
   });
+  madsSettingsButton->setEnabled(madsToggle->isToggled());
 
   madsWidget = new MadsSettings(this);
   connect(madsWidget, &MadsSettings::backPress, [=]() {
@@ -40,6 +42,11 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
   });
   list->addItem(madsSettingsButton);
 
+  QObject::connect(madsToggle, &ToggleControl::toggleFlipped, [=](bool state) {
+    madsSettingsButton->setEnabled(state);
+  });
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnypilotPanel::updateToggles);
+
   sunnypilotScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(sunnypilotScroller);
   vlayout->addStretch(1);
@@ -66,15 +73,13 @@ SunnypilotPanel::SunnypilotPanel(SettingsWindowSP *parent) : QFrame(parent) {
 }
 
 void SunnypilotPanel::showEvent(QShowEvent *event) {
-  updateToggles();
+  updateToggles(offroad);
 }
 
 void SunnypilotPanel::hideEvent(QHideEvent *event) {
   main_layout->setCurrentWidget(sunnypilotScreen);
 }
 
-void SunnypilotPanel::updateToggles() {
-  if (!isVisible()) {
-    return;
-  }
+void SunnypilotPanel::updateToggles(bool _offroad) {
+  offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
index edb145ca61..d6f1ea81fd 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_panel.h
@@ -25,12 +25,13 @@ public:
   void hideEvent(QHideEvent* event) override;
 
 public slots:
-  void updateToggles();
+  void updateToggles(bool _offroad);
 
 private:
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
+  bool offroad;
 
   ParamControl *madsToggle;
   MadsSettings *madsWidget = nullptr;