Enable Experimental Mode by default without confirmation (#39043)

* Enable Experimental Mode by default without confirmation

* Update toggles.py

* Fix formatting in End-to-End Longitudinal Control description

openpilot/common/params_keys.h

@@ -40,8 +40,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
     {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
-    {"ExperimentalMode", {PERSISTENT, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
+    {"ExperimentalMode", {PERSISTENT, BOOL, "1"}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
     {"GitBranch", {PERSISTENT, STRING}},

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

@@ -3,10 +3,7 @@ from openpilot.common.params import Params, UnknownKeyName
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
@@ -156,15 +153,9 @@ class TogglesLayout(Widget):
     ui_state.update_params()
 
     e2e_description = tr(
-      "openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
-      "Experimental features are listed below:<br>" +
       "<h4>End-to-End Longitudinal Control</h4><br>" +
       "Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
-      "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
-      "mistakes should be expected.<br>" +
-      "<h4>New Driving Visualization</h4><br>" +
-      "The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. " +
-      "The Experimental mode logo will also be shown in the top right corner."
+      "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. Mistakes should be expected.<br>"
     )
 
     if ui_state.CP is not None:
@@ -212,32 +203,11 @@ class TogglesLayout(Widget):
     icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
     self._toggles["ExperimentalMode"].set_icon(icon)
 
-  def _handle_experimental_mode_toggle(self, state: bool):
-    confirmed = self._params.get_bool("ExperimentalModeConfirmed")
-    if state and not confirmed:
-      def confirm_callback(result: DialogResult):
-        if result == DialogResult.CONFIRM:
-          self._params.put_bool("ExperimentalMode", True, block=True)
-          self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
-        else:
-          self._toggles["ExperimentalMode"].action_item.set_state(False)
-        self._update_experimental_mode_icon()
-
-      # show confirmation dialog
-      content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
-                 f"<p>{self._toggles['ExperimentalMode'].description}</p>")
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
-      gui_app.push_widget(dlg)
-    else:
-      self._update_experimental_mode_icon()
-      self._params.put_bool("ExperimentalMode", state, block=True)
-
   def _toggle_callback(self, state: bool, param: str):
-    if param == "ExperimentalMode":
-      self._handle_experimental_mode_toggle(state)
-      return
-
     self._params.put_bool(param, state, block=True)
+    if param == "ExperimentalMode":
+      self._update_experimental_mode_icon()
+
     if self._toggle_defs[param][3]:
       self._params.put_bool("OnroadCycleRequested", True, block=True)
 

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

@@ -173,7 +173,7 @@ 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 and ui_state.experimental_mode_confirmed:
+        if ui_state.has_longitudinal_control:
           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

@@ -1,10 +1,7 @@
-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, BigToggle, GreyBigButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
 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
@@ -12,31 +9,6 @@ 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__()
@@ -46,8 +18,8 @@ class TogglesLayoutMici(NavScroller):
                                                                "Aggressive follows closer, with firmer gas and braking.\n" +
                                                                "Relaxed leaves more space.\n" +
                                                                "Use the steering wheel distance button on supported cars.")
-    self._experimental_btn = BigToggle("experimental mode", description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
-                                       initial_state=ui_state.params.get_bool("ExperimentalMode"), toggle_callback=self._on_experimental_mode,
+    self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode",
+                                       description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
                                        description="Let the driving model control gas and brakes.\n" +
                                                    "Includes stopping for red lights and stop signs.\n" +
                                                    "Set speed is a maximum, not a target.\n" +
@@ -132,17 +104,3 @@ 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/onroad/exp_button.py

@@ -34,7 +34,7 @@ class ExpButton(Widget):
 
   def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
-    if self._is_toggle_allowed():
+    if ui_state.has_longitudinal_control:
       new_mode = not self._experimental_mode
       self._params.put_bool("ExperimentalMode", new_mode)
 
@@ -61,10 +61,3 @@ class ExpButton(Widget):
       self._hold_end_time = self._held_mode = None
 
     return self._experimental_mode
-
-  def _is_toggle_allowed(self):
-    if not self._params.get_bool("ExperimentalModeConfirmed"):
-      return False
-
-    # Mirror exp mode toggle using persistent car params
-    return ui_state.has_longitudinal_control

openpilot/selfdrive/ui/ui_state.py

@@ -86,7 +86,6 @@ 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.chestnut_present: bool = False
     self.chestnut_compiled: bool = chestnut_compiled()
     self.chestnut_active: bool | None = None
@@ -246,7 +245,6 @@ 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")
     self.chestnut_active = self.params.get("ChestnutActive")
     self.chestnut_loading = self.params.get_bool("ChestnutLoading")
     now = time.monotonic()