From db9d44f3530de8d7acc2607ee2d3faef4b1968d2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 06:56:31 -0400
Subject: [PATCH] dynamic description for mads toggle

---
 .../qt/offroad/settings/lateral_panel.cc         | 16 ++++++++++++++++
 .../qt/offroad/settings/lateral_panel.h          | 11 +++++++++++
 2 files changed, 27 insertions(+)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 75cd13664d..61ae126fc3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -122,7 +122,23 @@ void LateralPanel::updateToggles(bool _offroad) {
     toggle->setEnabled(_offroad);
   }
 
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (CP.getBrand() == "rivian" || CP.getBrand() == "tesla") {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
+    } else {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
+    }
+  } else {
+    madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
+  }
+
   madsSettingsButton->setEnabled(madsToggle->isToggled());
+  madsToggle->showDescription();
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 1b77939ee8..cf003dfaf3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -30,6 +30,7 @@ public slots:
   void updateToggles(bool _offroad);
 
 private:
+  Params params;
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
@@ -42,4 +43,14 @@ private:
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
+
+  const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
+
+  const QString STATUS_MADS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString STATUS_MADS_SETTINGS_FULL_COMPATIBILITY = tr("This platform supports all MADS settings.");
+  const QString STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY = tr("This platform supports limited MADS settings.");
+
+  static QString descriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };