text: #include "selfdrive/ui/qt/offroad/settings.h"
  
  #include <cassert>
  #include <cmath>
  #include <string>
  
  #include <QDebug>
  
  #include "selfdrive/ui/qt/offroad/networking.h"
  
  #ifdef ENABLE_MAPS
  #include "selfdrive/ui/qt/maps/map_settings.h"
  #endif
  
  #include "common/params.h"
  #include "common/util.h"
  #include "selfdrive/hardware/hw.h"
  #include "selfdrive/ui/qt/widgets/controls.h"
  #include "selfdrive/ui/qt/widgets/input.h"
  #include "selfdrive/ui/qt/widgets/scrollview.h"
  #include "selfdrive/ui/qt/widgets/ssh_keys.h"
  #include "selfdrive/ui/qt/widgets/toggle.h"
  #include "selfdrive/ui/ui.h"
  #include "selfdrive/ui/qt/util.h"
  #include "selfdrive/ui/qt/qt_window.h"
  
  TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    // param, title, desc, icon
    std::vector<std::tuple<QString, QString, QString, QString>> toggles{
      {
        "OpenpilotEnabledToggle",
        "Enable openpilot",
        "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
        "../assets/offroad/icon_openpilot.png",
      },
      {
        "IsLdwEnabled",
        "Enable Lane Departure Warnings",
        "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).",
        "../assets/offroad/icon_warning.png",
      },
      {
        "IsRHD",
        "Enable Right-Hand Drive",
        "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
        "../assets/offroad/icon_openpilot_mirrored.png",
      },
      {
        "IsMetric",
        "Use Metric System",
        "Display speed in km/h instead of mph.",
        "../assets/offroad/icon_metric.png",
      },
      {
        "RecordFront",
        "Record and Upload Driver Camera",
        "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
        "../assets/offroad/icon_monitoring.png",
      },
      {
        "EndToEndToggle",
        "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
        "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
        "../assets/offroad/icon_road.png",
      },
      {
        "DisengageOnAccelerator",
        "Disengage On Accelerator Pedal",
        "When enabled, pressing the accelerator pedal will disengage openpilot.",
        "../assets/offroad/icon_disengage_on_accelerator.svg",
      },
  #ifdef ENABLE_MAPS
      {
        "NavSettingTime24h",
        "Show ETA in 24h format",
        "Use 24h format instead of am/pm",
        "../assets/offroad/icon_metric.png",
      },
  #endif
      {
        "UploadRaw",
        "Upload Raw Logs",
        "Upload full logs and full resolution video by default while on Wi-Fi. If not enabled, individual logs can be marked for upload at useradmin.comma.ai.",
        "../assets/offroad/icon_network.png",
      },
    };
  
    Params params;
  
    if (params.getBool("DisableRadar_Allow")) {
      toggles.push_back({
        "DisableRadar",
        "openpilot Longitudinal Control",
        "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!",
        "../assets/offroad/icon_speed_limit.png",
      });
    }
  
    for (auto &[param, title, desc, icon] : toggles) {
      auto toggle = new ParamControl(param, title, desc, icon, this);
      bool locked = params.getBool((param + "Lock").toStdString());
      toggle->setEnabled(!locked);
      if (!locked) {
        connect(uiState(), &UIState::offroadTransition, toggle, &ParamControl::setEnabled);
      }
      addItem(toggle);
    }
  }
  
  DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
    setSpacing(50);
    addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A")));
    addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str()));
  
    // offroad-only buttons
  
    auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW",
                                     "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)");
    connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
    addItem(dcamBtn);
  
    auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " ");
    connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription);
    connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
      if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) {
        params.remove("CalibrationParams");
      }
    });
    addItem(resetCalibBtn);
  
    if (!params.getBool("Passive")) {
      auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
      connect(retrainingBtn, &ButtonControl::clicked, [=]() {
        if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
          emit reviewTrainingGuide();
        }
      });
      addItem(retrainingBtn);
    }
  
    if (Hardware::TICI()) {
      auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", "");
      connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
        const std::string txt = util::read_file("../assets/offroad/fcc.html");
        RichTextDialog::alert(QString::fromStdString(txt), this);
      });
      addItem(regulatoryBtn);
    }
  
    QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
      for (auto btn : findChildren<ButtonControl *>()) {
        btn->setEnabled(offroad);
      }
    });
  
    // power buttons
    QHBoxLayout *power_layout = new QHBoxLayout();
    power_layout->setSpacing(30);
  
    QPushButton *reboot_btn = new QPushButton("Reboot");
    reboot_btn->setObjectName("reboot_btn");
    power_layout->addWidget(reboot_btn);
    QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
  
    QPushButton *poweroff_btn = new QPushButton("Power Off");
    poweroff_btn->setObjectName("poweroff_btn");
    power_layout->addWidget(poweroff_btn);
    QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
  
    if (Hardware::TICI()) {
      connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
    }
  
    setStyleSheet(R"(
      #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
      #reboot_btn:pressed { background-color: #4a4a4a; }
      #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
      #poweroff_btn:pressed { background-color: #FF2424; }
    )");
    addItem(power_layout);
  }
  
  void DevicePanel::updateCalibDescription() {
    QString desc =
        "openpilot requires the device to be mounted within 4° left or right and "
        "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.";
    std::string calib_bytes = Params().get("CalibrationParams");
    if (!calib_bytes.empty()) {
      try {
        AlignedBuffer aligned_buf;
        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
        auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
        if (calib.getCalStatus() != 0) {
          double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
          double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
          desc += QString(" Your device is pointed %1° %2 and %3° %4.")
                      .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
                           QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
        }
      } catch (kj::Exception) {
        qInfo() << "invalid CalibrationParams";
      }
    }
    qobject_cast<ButtonControl *>(sender())->setDescription(desc);
  }
  
  void DevicePanel::reboot() {
    if (!uiState()->engaged()) {
      if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) {
        // Check engaged again in case it changed while the dialog was open
        if (!uiState()->engaged()) {
          Params().putBool("DoReboot", true);
        }
      }
    } else {
      ConfirmationDialog::alert("Disengage to Reboot", this);
    }
  }
  
  void DevicePanel::poweroff() {
    if (!uiState()->engaged()) {
      if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) {
        // Check engaged again in case it changed while the dialog was open
        if (!uiState()->engaged()) {
          Params().putBool("DoShutdown", true);
        }
      }
    } else {
      ConfirmationDialog::alert("Disengage to Power Off", this);
    }
  }
  
  SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
    gitBranchLbl = new LabelControl("Git Branch");
    gitCommitLbl = new LabelControl("Git Commit");
    osVersionLbl = new LabelControl("OS Version");
    versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
    lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off.");
    updateBtn = new ButtonControl("Check for Update", "");
    connect(updateBtn, &ButtonControl::clicked, [=]() {
      if (params.getBool("IsOffroad")) {
        fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime")));
        fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount")));
        updateBtn->setText("CHECKING");
        updateBtn->setEnabled(false);
      }
      std::system("pkill -1 -f selfdrive.updated");
    });
  
  
    auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL");
    connect(uninstallBtn, &ButtonControl::clicked, [&]() {
      if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) {
        params.putBool("DoUninstall", true);
      }
    });
    connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled);
  
    QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
    for (QWidget* w : widgets) {
      addItem(w);
    }
  
    fs_watch = new QFileSystemWatcher(this);
    QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) {
      if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) {
        lastUpdateLbl->setText("failed to fetch update");
        updateBtn->setText("CHECK");
        updateBtn->setEnabled(true);
      } else if (path.contains("LastUpdateTime")) {
        updateLabels();
      }
    });
  }
  
  void SoftwarePanel::showEvent(QShowEvent *event) {
    updateLabels();
  }
  
  void SoftwarePanel::updateLabels() {
    QString lastUpdate = "";
    auto tm = params.get("LastUpdateTime");
    if (!tm.empty()) {
      lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate));
    }
  
    versionLbl->setText(getBrandVersion());
    lastUpdateLbl->setText(lastUpdate);
    updateBtn->setText("CHECK");
    updateBtn->setEnabled(true);
    gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch")));
    gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10));
    osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed());
  }
  
  QWidget *network_panel(QWidget *parent) {
    return new Networking(parent);
  }
  
  void SettingsWindow::showEvent(QShowEvent *event) {
    panel_widget->setCurrentIndex(0);
    nav_btns->buttons()[0]->setChecked(true);
  }
  
  SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
  
    // setup two main layouts
    sidebar_widget = new QWidget;
    QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
    sidebar_layout->setMargin(0);
    panel_widget = new QStackedWidget();
    panel_widget->setStyleSheet(R"(
      border-radius: 30px;
      background-color: #292929;
    )");
  
    // close button
    QPushButton *close_btn = new QPushButton("×");
    close_btn->setStyleSheet(R"(
      QPushButton {
        font-size: 140px;
        padding-bottom: 20px;
        font-weight: bold;
        border 1px grey solid;
        border-radius: 100px;
        background-color: #292929;
        font-weight: 400;
      }
      QPushButton:pressed {
        background-color: #3B3B3B;
      }
    )");
    close_btn->setFixedSize(200, 200);
    sidebar_layout->addSpacing(45);
    sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
    QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
  
    // setup panels
    DevicePanel *device = new DevicePanel(this);
    QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
    QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
  
    QList<QPair<QString, QWidget *>> panels = {
      {"Device", device},
      {"Network", network_panel(this)},
      {"Toggles", new TogglesPanel(this)},
      {"Software", new SoftwarePanel(this)},
    };
  
  #ifdef ENABLE_MAPS
    auto map_panel = new MapPanel(this);
    panels.push_back({"Navigation", map_panel});
    QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
  #endif
  
    const int padding = panels.size() > 3 ? 25 : 35;
  
    nav_btns = new QButtonGroup(this);
    for (auto &[name, panel] : panels) {
      QPushButton *btn = new QPushButton(name);
      btn->setCheckable(true);
      btn->setChecked(nav_btns->buttons().size() == 0);
      btn->setStyleSheet(QString(R"(
        QPushButton {
          color: grey;
          border: none;
          background: none;
          font-size: 65px;
          font-weight: 500;
          padding-top: %1px;
          padding-bottom: %1px;
        }
        QPushButton:checked {
          color: white;
        }
        QPushButton:pressed {
          color: #ADADAD;
        }
      )").arg(padding));
  
      nav_btns->addButton(btn);
      sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
  
      const int lr_margin = name != "Network" ? 50 : 0;  // Network panel handles its own margins
      panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
  
      ScrollView *panel_frame = new ScrollView(panel, this);
      panel_widget->addWidget(panel_frame);
  
      QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
        btn->setChecked(true);
        panel_widget->setCurrentWidget(w);
      });
    }
    sidebar_layout->setContentsMargins(50, 50, 100, 50);
  
    // main settings layout, sidebar + main panel
    QHBoxLayout *main_layout = new QHBoxLayout(this);
  
    sidebar_widget->setFixedWidth(500);
    main_layout->addWidget(sidebar_widget);
    main_layout->addWidget(panel_widget);
  
    setStyleSheet(R"(
      * {
        color: white;
        font-size: 50px;
      }
      SettingsWindow {
        background-color: black;
      }
    )");
  }
  