sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

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

@@ -0,0 +1,5 @@
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+def restart_needed_callback(_=None):
+  ui_state.params.put_bool("OnroadCycleRequested", True)

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

@@ -0,0 +1,211 @@
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.list_view import 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
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+
+# Description constants
+DESCRIPTIONS = {
+  'enable_adb': tr_noop(
+    "ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. " +
+    "See https://docs.comma.ai/how-to/connect-to-comma for more info."
+  ),
+  'ssh_key': tr_noop(
+    "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " +
+    "other than your own. A comma employee will NEVER ask you to add their GitHub username."
+  ),
+  'alpha_longitudinal': tr_noop(
+    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and may disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. " +
+    "Enable this to switch to sunnypilot longitudinal control. " +
+    "Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. " +
+    "Changing this setting will restart sunnypilot if the car is powered on."
+  ),
+}
+
+
+class DeveloperLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
+
+    # Build items and keep references for callbacks/state updates
+    self._adb_toggle = toggle_item(
+      lambda: tr("Enable ADB"),
+      description=lambda: tr(DESCRIPTIONS["enable_adb"]),
+      initial_state=self._params.get_bool("AdbEnabled"),
+      callback=self._on_enable_adb,
+      enabled=ui_state.is_offroad,
+    )
+
+    # SSH enable toggle + SSH key management
+    self._ssh_toggle = toggle_item(
+      lambda: tr("Enable SSH"),
+      description="",
+      initial_state=self._params.get_bool("SshEnabled"),
+      callback=self._on_enable_ssh,
+    )
+    self._ssh_keys = ssh_key_item(lambda: tr("SSH Keys"), description=lambda: tr(DESCRIPTIONS["ssh_key"]))
+
+    self._joystick_toggle = toggle_item(
+      lambda: tr("Joystick Debug Mode"),
+      description="",
+      initial_state=self._params.get_bool("JoystickDebugMode"),
+      callback=self._on_joystick_debug_mode,
+      enabled=ui_state.is_offroad,
+    )
+
+    self._long_maneuver_toggle = toggle_item(
+      lambda: tr("Longitudinal Maneuver Mode"),
+      description="",
+      initial_state=self._params.get_bool("LongitudinalManeuverMode"),
+      callback=self._on_long_maneuver_mode,
+    )
+
+    self._lat_maneuver_toggle = toggle_item(
+      lambda: tr("Lateral Maneuver Mode"),
+      description="",
+      initial_state=self._params.get_bool("LateralManeuverMode"),
+      callback=self._on_lat_maneuver_mode,
+    )
+
+    self._alpha_long_toggle = toggle_item(
+      lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
+      description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
+      initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
+      callback=self._on_alpha_long_enabled,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self._ui_debug_toggle = toggle_item(
+      lambda: tr("UI Debug Mode"),
+      description="",
+      initial_state=self._params.get_bool("ShowDebugInfo"),
+      callback=self._on_enable_ui_debug,
+    )
+    self._on_enable_ui_debug(self._params.get_bool("ShowDebugInfo"))
+
+    self._scroller = Scroller([
+      self._adb_toggle,
+      self._ssh_toggle,
+      self._ssh_keys,
+      self._joystick_toggle,
+      self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
+      self._alpha_long_toggle,
+      self._ui_debug_toggle,
+    ], line_separator=True, spacing=0)
+
+    # Toggles should be not available to change in onroad state
+    ui_state.add_offroad_transition_callback(self._update_toggles)
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+    self._update_toggles()
+
+  def _update_toggles(self):
+    ui_state.update_params()
+
+    # Hide non-release toggles on release builds
+    # TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
+    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle):
+      item.set_visible(not self._is_release)
+
+    # CP gating
+    if ui_state.CP is not None:
+      alpha_avail = ui_state.CP.alphaLongitudinalAvailable
+      if not alpha_avail or self._is_release:
+        self._alpha_long_toggle.set_visible(False)
+        self._params.remove("AlphaLongitudinalEnabled")
+      else:
+        self._alpha_long_toggle.set_visible(True)
+
+      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
+      self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
+      self._lat_maneuver_toggle.action_item.set_enabled(ui_state.is_offroad())
+    else:
+      self._long_maneuver_toggle.action_item.set_enabled(False)
+      self._lat_maneuver_toggle.action_item.set_enabled(False)
+      self._alpha_long_toggle.set_visible(False)
+
+    # TODO: make a param control list item so we don't need to manage internal state as much here
+    # refresh toggles from params to mirror external changes
+    for key, item in (
+      ("AdbEnabled", self._adb_toggle),
+      ("SshEnabled", self._ssh_toggle),
+      ("JoystickDebugMode", self._joystick_toggle),
+      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
+      ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
+      ("ShowDebugInfo", self._ui_debug_toggle),
+    ):
+      item.action_item.set_state(self._params.get_bool(key))
+
+  def _on_enable_ui_debug(self, state: bool):
+    self._params.put_bool("ShowDebugInfo", state, block=True)
+    gui_app.set_show_touches(state)
+    gui_app.set_show_fps(state)
+    gui_app.set_show_mouse_coords(state)
+
+  def _on_enable_adb(self, state: bool):
+    self._params.put_bool("AdbEnabled", state, block=True)
+
+  def _on_enable_ssh(self, state: bool):
+    self._params.put_bool("SshEnabled", state, block=True)
+
+  def _on_joystick_debug_mode(self, state: bool):
+    self._params.put_bool("JoystickDebugMode", state, block=True)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
+    self._long_maneuver_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
+    self._lat_maneuver_toggle.action_item.set_state(False)
+
+  def _on_long_maneuver_mode(self, state: bool):
+    self._params.put_bool("LongitudinalManeuverMode", state, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
+    self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
+    self._lat_maneuver_toggle.action_item.set_state(False)
+
+  def _on_lat_maneuver_mode(self, state: bool):
+    self._params.put_bool("LateralManeuverMode", state, block=True)
+    self._params.put_bool("ExperimentalMode", False, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
+    self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
+    self._long_maneuver_toggle.action_item.set_state(False)
+
+  def _on_alpha_long_enabled(self, state: bool):
+    if state:
+      def confirm_callback(result: DialogResult):
+        if result == DialogResult.CONFIRM:
+          self._params.put_bool("AlphaLongitudinalEnabled", True, block=True)
+          self._params.put_bool("OnroadCycleRequested", True, block=True)
+          self._update_toggles()
+        else:
+          self._alpha_long_toggle.action_item.set_state(False)
+
+      # show confirmation dialog
+      content = (f"<h1>{self._alpha_long_toggle.title}</h1><br>" +
+                 f"<p>{self._alpha_long_toggle.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      self._params.put_bool("AlphaLongitudinalEnabled", False, block=True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
+      self._update_toggles()

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

@@ -0,0 +1,197 @@
+import os
+import math
+
+from openpilot.cereal import messaging, log
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import multilang, tr, tr_noop
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
+from openpilot.system.ui.widgets.html_render import HtmlModal
+from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_button_item
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
+# Description constants
+DESCRIPTIONS = {
+  'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
+  'driver_camera': tr_noop("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"),
+  'reset_calibration': tr_noop("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
+  'review_guide': tr_noop("Review the rules, features, and limitations of sunnypilot"),
+}
+
+
+class DeviceLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    self._select_language_dialog: MultiOptionDialog | None = None
+    self._fcc_dialog: HtmlModal | None = None
+    self._training_guide: TrainingGuide | None = None
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+    ui_state.add_offroad_transition_callback(self._offroad_transition)
+
+  def _initialize_items(self):
+    self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']),
+                                        callback=lambda: gui_app.push_widget(PairingDialog()))
+    self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired())
+
+    self._reset_calib_btn = button_item(lambda: tr("Reset Calibration"), lambda: tr("RESET"), lambda: tr(DESCRIPTIONS['reset_calibration']),
+                                        callback=self._reset_calibration_prompt)
+    self._reset_calib_btn.set_description_opened_callback(self._update_calib_description)
+
+    self._power_off_btn = dual_button_item(lambda: tr("Reboot"), lambda: tr("Power Off"),
+                                           left_callback=self._reboot_prompt, right_callback=self._power_off_prompt)
+
+    items = [
+      text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))),
+      text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
+      self._pair_device_btn,
+      button_item(lambda: tr("Driver Camera"), lambda: tr("PREVIEW"), lambda: tr(DESCRIPTIONS['driver_camera']),
+                  callback=lambda: gui_app.push_widget(DriverCameraDialog()), enabled=ui_state.is_offroad),
+      self._reset_calib_btn,
+      button_item(lambda: tr("Review Training Guide"), lambda: tr("REVIEW"), lambda: tr(DESCRIPTIONS['review_guide']),
+                  self._on_review_training_guide, enabled=ui_state.is_offroad),
+      button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad),
+      button_item(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
+      self._power_off_btn,
+    ]
+    return items
+
+  def _offroad_transition(self):
+    self._power_off_btn.action_item.right_button.set_visible(ui_state.is_offroad())
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _show_language_dialog(self):
+    def handle_language_selection(result: DialogResult):
+      if result == DialogResult.CONFIRM and self._select_language_dialog:
+        selected_language = multilang.languages[self._select_language_dialog.selection]
+        multilang.change_language(selected_language)
+        self._update_calib_description()
+      self._select_language_dialog = None
+
+    self._select_language_dialog = MultiOptionDialog(tr("Select a language"), multilang.languages, multilang.codes[multilang.language],
+                                                     option_font_weight=FontWeight.UNIFONT, callback=handle_language_selection)
+    gui_app.push_widget(self._select_language_dialog)
+
+  def _reset_calibration_prompt(self):
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reset Calibration")))
+      return
+
+    def reset_calibration(result: DialogResult):
+      # Check engaged again in case it changed while the dialog was open
+      if ui_state.engaged or result != DialogResult.CONFIRM:
+        return
+
+      self._params.remove("CalibrationParams")
+      self._params.remove("LiveTorqueParameters")
+      self._params.remove("LiveParameters")
+      self._params.remove("LiveParametersV2")
+      self._params.remove("LiveDelay")
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
+      self._update_calib_description()
+
+    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
+    gui_app.push_widget(dialog)
+
+  def _update_calib_description(self):
+    desc = tr(DESCRIPTIONS['reset_calibration'])
+
+    calib_bytes = self._params.get("CalibrationParams")
+    if calib_bytes:
+      try:
+        calib = messaging.log_from_bytes(calib_bytes, log.Event).liveCalibration
+
+        if calib.calStatus != log.LiveCalibrationData.Status.uncalibrated:
+          pitch = math.degrees(calib.rpyCalib[1])
+          yaw = math.degrees(calib.rpyCalib[2])
+          desc += tr(" Your device is pointed {:.1f}° {} and {:.1f}° {}.").format(abs(pitch), tr("down") if pitch > 0 else tr("up"),
+                                                                                  abs(yaw), tr("left") if yaw > 0 else tr("right"))
+      except Exception:
+        cloudlog.exception("invalid CalibrationParams")
+
+    lag_perc = 0
+    lag_bytes = self._params.get("LiveDelay")
+    if lag_bytes:
+      try:
+        lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).liveDelay.calPerc
+      except Exception:
+        cloudlog.exception("invalid LiveDelay")
+    if lag_perc < 100:
+      desc += tr("<br><br>Steering lag calibration is {}% complete.").format(lag_perc)
+    else:
+      desc += tr("<br><br>Steering lag calibration is complete.")
+
+    torque_bytes = self._params.get("LiveTorqueParameters")
+    if torque_bytes:
+      try:
+        torque = messaging.log_from_bytes(torque_bytes, log.Event).liveTorqueParameters
+        # don't add for non-torque cars
+        if torque.useParams:
+          torque_perc = torque.calPerc
+          if torque_perc < 100:
+            desc += tr(" Steering torque response calibration is {}% complete.").format(torque_perc)
+          else:
+            desc += tr(" Steering torque response calibration is complete.")
+      except Exception:
+        cloudlog.exception("invalid LiveTorqueParameters")
+
+    desc += "<br><br>"
+    desc += tr("sunnypilot is continuously calibrating, resetting is rarely required. " +
+               "Resetting calibration will restart sunnypilot if the car is powered on.")
+
+    self._reset_calib_btn.set_description(desc)
+
+  def _reboot_prompt(self):
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reboot")))
+      return
+
+    def perform_reboot(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool("DoReboot", True)
+
+    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
+    gui_app.push_widget(dialog)
+
+  def _power_off_prompt(self):
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage to Power Off")))
+      return
+
+    def perform_power_off(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool("DoShutdown", True)
+
+    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
+    gui_app.push_widget(dialog)
+
+  def _on_regulatory(self):
+    if not self._fcc_dialog:
+      self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "openpilot/selfdrive/assets/offroad/fcc.html"))
+    gui_app.push_widget(self._fcc_dialog)
+
+  def _on_review_training_guide(self):
+    if not self._training_guide:
+      self._training_guide = TrainingGuide()
+    gui_app.push_widget(self._training_guide)

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

@@ -0,0 +1,91 @@
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
+
+TITLE = tr_noop("Firehose Mode")
+DESCRIPTION = tr_noop(
+  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
+  + "Firehose Mode allows you to maximize your training data uploads to improve "
+  + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+)
+INSTRUCTIONS = tr_noop(
+  "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n\n"
+  + "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n\n\n"
+  + "Frequently Asked Questions\n\n"
+  + "Does it matter how or where I drive? Nope, just drive as you normally would.\n\n"
+  + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n\n"
+  + "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n\n"
+  + "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training."
+)
+
+
+class FirehoseLayout(FirehoseLayoutBase):
+  def __init__(self):
+    super().__init__()
+    self._scroll_panel = GuiScrollPanel()
+
+  def _render(self, rect: rl.Rectangle):
+    # Calculate content dimensions
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
+
+    # Handle scrolling and render with clipping
+    scroll_offset = self._scroll_panel.update(rect, content_rect)
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._content_height = self._render_content(rect, scroll_offset)
+    rl.end_scissor_mode()
+
+  def _render_content(self, rect: rl.Rectangle, scroll_offset: float) -> int:
+    x = int(rect.x + 40)
+    y = int(rect.y + 40 + scroll_offset)
+    w = int(rect.width - 80)
+
+    # Title (centered)
+    title_text = tr(TITLE)  # live translate
+    title_font = gui_app.font(FontWeight.MEDIUM)
+    text_width = measure_text_cached(title_font, title_text, 100).x
+    title_x = rect.x + (rect.width - text_width) / 2
+    rl.draw_text_ex(title_font, title_text, rl.Vector2(title_x, y), 100, 0, rl.WHITE)
+    y += 200
+
+    # Description
+    y = self._draw_wrapped_text(x, y, w, tr(DESCRIPTION), gui_app.font(FontWeight.NORMAL), 45, rl.WHITE)
+    y += 40 + 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30 + 20
+
+    # Status
+    status_text, status_color = self._get_status()
+    y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
+    y += 20 + 20
+
+    # TODO: add back once reliable
+    # Contribution count (if available)
+    #if self._segment_count > 0:
+    #  contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+    #                     "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+    #  y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+    #  y += 20 + 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30 + 20
+
+    # Instructions
+    y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
+
+    # bottom margin + remove effect of scroll offset
+    return int(round(y - self._scroll_panel.offset + 40))
+
+  def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
+    wrapped = wrap_text(font, text, font_size, width)
+    for line in wrapped:
+      rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
+      y += font_size * FONT_SCALE
+    return round(y)

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

@@ -0,0 +1,173 @@
+import pyray as rl
+from dataclasses import dataclass
+from enum import IntEnum
+from collections.abc import Callable
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import NetworkUI
+
+# Constants
+SIDEBAR_WIDTH = 500
+CLOSE_BTN_SIZE = 200
+CLOSE_ICON_SIZE = 70
+NAV_BTN_HEIGHT = 110
+PANEL_MARGIN = 50
+
+# Colors
+SIDEBAR_COLOR = rl.BLACK
+PANEL_COLOR = rl.Color(41, 41, 41, 255)
+CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
+CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
+TEXT_NORMAL = rl.Color(128, 128, 128, 255)
+TEXT_SELECTED = rl.WHITE
+
+
+class PanelType(IntEnum):
+  DEVICE = 0
+  NETWORK = 1
+  TOGGLES = 2
+  SOFTWARE = 3
+  FIREHOSE = 4
+  DEVELOPER = 5
+
+
+@dataclass
+class PanelInfo:
+  name: str
+  instance: Widget
+  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+
+
+class SettingsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._current_panel = PanelType.DEVICE
+
+    # Panel configuration
+    wifi_manager = WifiManager()
+    wifi_manager.set_active(False)
+
+    self._panels = {
+      PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayout()),
+      PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUI(wifi_manager)),
+      PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout()),
+      PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout()),
+      PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout()),
+      PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout()),
+    }
+
+    self._font_medium = gui_app.font(FontWeight.MEDIUM)
+    self._close_icon = gui_app.texture("icons/close2.png", CLOSE_ICON_SIZE, CLOSE_ICON_SIZE)
+
+    # Callbacks
+    self._close_callback: Callable | None = None
+
+  def set_callbacks(self, on_close: Callable):
+    self._close_callback = on_close
+
+  def _render(self, rect: rl.Rectangle):
+    # Calculate layout
+    sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
+    panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height)
+
+    # Draw components
+    self._draw_sidebar(sidebar_rect)
+    self._draw_current_panel(panel_rect)
+
+  def _draw_sidebar(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, SIDEBAR_COLOR)
+
+    # Close button
+    close_btn_rect = rl.Rectangle(
+      rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 60, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE
+    )
+
+    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR
+    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
+
+    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
+    icon_dest = rl.Rectangle(
+      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
+      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
+      self._close_icon.width,
+      self._close_icon.height,
+    )
+    rl.draw_texture_pro(
+      self._close_icon,
+      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
+      icon_dest,
+      rl.Vector2(0, 0),
+      0,
+      icon_color,
+    )
+
+    # Store close button rect for click detection
+    self._close_btn_rect = close_btn_rect
+
+    # Navigation buttons
+    y = rect.y + 300
+    for panel_type, panel_info in self._panels.items():
+      button_rect = rl.Rectangle(rect.x + 50, y, rect.width - 150, NAV_BTN_HEIGHT)
+
+      # Button styling
+      is_selected = panel_type == self._current_panel
+      text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL
+      # Draw button text (right-aligned)
+      panel_name = tr(panel_info.name)
+      text_size = measure_text_cached(self._font_medium, panel_name, 65)
+      text_pos = rl.Vector2(
+        button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2
+      )
+      rl.draw_text_ex(self._font_medium, panel_name, text_pos, 65, 0, text_color)
+
+      # Store button rect for click detection
+      panel_info.button_rect = button_rect
+
+      y += NAV_BTN_HEIGHT
+
+  def _draw_current_panel(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rounded(
+      rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20), 0.04, 30, PANEL_COLOR
+    )
+    content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50)
+    # rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR)
+    panel = self._panels[self._current_panel]
+    if panel.instance:
+      panel.instance.render(content_rect)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+    # Check close button
+    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
+      if self._close_callback:
+        self._close_callback()
+      return
+
+    # Check navigation buttons
+    for panel_type, panel_info in self._panels.items():
+      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
+        self.set_current_panel(panel_type)
+        return
+
+  def set_current_panel(self, panel_type: PanelType):
+    if panel_type != self._current_panel:
+      self._panels[self._current_panel].instance.hide_event()
+      self._current_panel = panel_type
+      self._panels[self._current_panel].instance.show_event()
+
+  def show_event(self):
+    super().show_event()
+    self._panels[self._current_panel].instance.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._panels[self._current_panel].instance.hide_event()

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

@@ -0,0 +1,206 @@
+import subprocess
+import time
+import datetime
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, trn
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import button_item, text_item, ListItem
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
+# TODO: remove this. updater fails to respond on startup if time is not correct
+UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
+
+# Mapping updater internal states to translated display strings
+STATE_TO_DISPLAY_TEXT = {
+  "checking...": tr("checking..."),
+  "downloading...": tr("downloading..."),
+  "finalizing update...": tr("finalizing update..."),
+}
+
+
+def time_ago(date: datetime.datetime | None) -> str:
+  if not date:
+    return tr("never")
+
+  if not system_time_valid():
+    return date.strftime("%a %b %d %Y")
+
+  now = datetime.datetime.now(datetime.UTC)
+  if date.tzinfo is None:
+    date = date.replace(tzinfo=datetime.UTC)
+
+  diff_seconds = int((now - date).total_seconds())
+  if diff_seconds < 60:
+    return tr("now")
+  if diff_seconds < 3600:
+    m = diff_seconds // 60
+    return trn("{} minute ago", "{} minutes ago", m).format(m)
+  if diff_seconds < 86400:
+    h = diff_seconds // 3600
+    return trn("{} hour ago", "{} hours ago", h).format(h)
+  if diff_seconds < 604800:
+    d = diff_seconds // 86400
+    return trn("{} day ago", "{} days ago", d).format(d)
+  return date.strftime("%a %b %d %Y")
+
+
+class SoftwareLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._onroad_label = ListItem(lambda: tr("Updates are only downloaded while the car is off."))
+    self._version_item = text_item(lambda: tr("Current Version"), ui_state.params.get("UpdaterCurrentDescription") or "")
+    self._download_btn = button_item(lambda: tr("Download"), lambda: tr("CHECK"), callback=self._on_download_update)
+
+    # Install button is initially hidden
+    self._install_btn = button_item(lambda: tr("Install Update"), lambda: tr("INSTALL"), callback=self._on_install_update)
+    self._install_btn.set_visible(False)
+
+    # Track waiting-for-updater transition to avoid brief re-enable while still idle
+    self._waiting_for_updater = False
+    self._waiting_start_ts: float = 0.0
+
+    # Branch switcher
+    self._branch_btn = button_item(lambda: tr("Target Branch"), lambda: tr("SELECT"), callback=self._on_select_branch)
+    self._branch_btn.action_item.set_value(ui_state.params.get("UpdaterTargetBranch") or "")
+    self._branch_dialog: MultiOptionDialog | None = None
+
+    self._scroller = Scroller([
+      self._onroad_label,
+      self._version_item,
+      self._download_btn,
+      self._install_btn,
+      self._branch_btn,
+      button_item(lambda: tr("Uninstall"), lambda: tr("UNINSTALL"), callback=self._on_uninstall),
+    ], line_separator=True, spacing=0)
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _update_state(self):
+    # Show/hide onroad warning
+    self._onroad_label.set_visible(ui_state.is_onroad())
+
+    # Update current version and release notes
+    current_desc = ui_state.params.get("UpdaterCurrentDescription") or ""
+    current_release_notes = (ui_state.params.get("UpdaterCurrentReleaseNotes") or b"").decode("utf-8", "replace")
+    self._version_item.action_item.set_text(current_desc)
+    self._version_item.set_description(current_release_notes)
+
+    # Update download button visibility and state
+    self._download_btn.set_visible(ui_state.is_offroad())
+
+    updater_state = ui_state.params.get("UpdaterState") or "idle"
+    failed_count = ui_state.params.get("UpdateFailedCount") or 0
+    fetch_available = ui_state.params.get_bool("UpdaterFetchAvailable")
+    update_available = ui_state.params.get_bool("UpdateAvailable")
+
+    if updater_state != "idle":
+      # Updater responded
+      self._waiting_for_updater = False
+      self._download_btn.action_item.set_enabled(False)
+      # Use the mapping, with a fallback to the original state string
+      display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
+      self._download_btn.action_item.set_value(display_text)
+    else:
+      if failed_count > 0:
+        self._download_btn.action_item.set_value(tr("failed to check for update"))
+        self._download_btn.action_item.set_text(tr("CHECK"))
+      elif fetch_available:
+        self._download_btn.action_item.set_value(tr("update available"))
+        self._download_btn.action_item.set_text(tr("DOWNLOAD"))
+      else:
+        last_update = ui_state.params.get("LastUpdateTime")
+        if last_update:
+          formatted = time_ago(last_update)
+          self._download_btn.action_item.set_value(tr("up to date, last checked {}").format(formatted))
+        else:
+          self._download_btn.action_item.set_value(tr("up to date, last checked never"))
+        self._download_btn.action_item.set_text(tr("CHECK"))
+
+      # If we've been waiting too long without a state change, reset state
+      if self._waiting_for_updater and (time.monotonic() - self._waiting_start_ts > UPDATED_TIMEOUT):
+        self._waiting_for_updater = False
+
+      # Only enable if we're not waiting for updater to flip out of idle
+      self._download_btn.action_item.set_enabled(not self._waiting_for_updater)
+
+    # Update target branch button value
+    current_branch = ui_state.params.get("UpdaterTargetBranch") or ""
+    self._branch_btn.action_item.set_value(current_branch)
+
+    # Update install button
+    self._install_btn.set_visible(ui_state.is_offroad() and update_available)
+    if update_available:
+      new_desc = ui_state.params.get("UpdaterNewDescription") or ""
+      new_release_notes = (ui_state.params.get("UpdaterNewReleaseNotes") or b"").decode("utf-8", "replace")
+      self._install_btn.action_item.set_text(tr("INSTALL"))
+      self._install_btn.action_item.set_value(new_desc)
+      self._install_btn.set_description(new_release_notes)
+      # Enable install button for testing (like Qt showEvent)
+      self._install_btn.action_item.set_enabled(True)
+    else:
+      self._install_btn.set_visible(False)
+
+  def _on_download_update(self):
+    # Check if we should start checking or start downloading
+    self._download_btn.action_item.set_enabled(False)
+    if self._download_btn.action_item.text == tr("CHECK"):
+      # Start checking for updates
+      self._waiting_for_updater = True
+      self._waiting_start_ts = time.monotonic()
+      subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
+    else:
+      # Start downloading
+      self._waiting_for_updater = True
+      self._waiting_start_ts = time.monotonic()
+      subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
+
+  def _on_uninstall(self):
+    def handle_uninstall_confirmation(result: DialogResult):
+      if result == DialogResult.CONFIRM:
+        ui_state.params.put_bool("DoUninstall", True, block=True)
+
+    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation)
+    gui_app.push_widget(dialog)
+
+  def _on_install_update(self):
+    # Trigger reboot to install update
+    self._install_btn.action_item.set_enabled(False)
+    ui_state.params.put_bool("DoReboot", True, block=True)
+
+  def _on_select_branch(self):
+    # Get available branches and order
+    current_git_branch = ui_state.params.get("GitBranch") or ""
+    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
+    branches = [b for b in branches_str.split(",") if b]
+
+    for b in [current_git_branch, "devel-staging", "devel", "nightly", "nightly-dev", "master"]:
+      if b in branches:
+        branches.remove(b)
+        branches.insert(0, b)
+
+    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
+
+    def handle_selection(result: DialogResult):
+      # Confirmed selection
+      if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection:
+        selection = self._branch_dialog.selection
+        ui_state.params.put("UpdaterTargetBranch", selection, block=True)
+        self._branch_btn.action_item.set_value(selection)
+        subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
+      self._branch_dialog = None
+
+    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection)
+    gui_app.push_widget(self._branch_dialog)

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

@@ -0,0 +1,249 @@
+from openpilot.cereal import log
+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
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+  from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp as multiple_button_item
+
+PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
+
+# Description constants
+DESCRIPTIONS = {
+  "OpenpilotEnabledToggle": tr_noop(
+    "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Your attention is required at all times to use this feature."
+  ),
+  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
+  "LongitudinalPersonality": tr_noop(
+    "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
+    "your steering wheel distance button."
+  ),
+  "IsLdwEnabled": tr_noop(
+    "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)."
+  ),
+  "AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot is not engaged."),
+  'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
+  "IsMetric": tr_noop("Display speed in km/h instead of mph."),
+  "RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
+}
+
+
+class TogglesLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
+
+    # param, title, desc, icon, needs_restart
+    self._toggle_defs = {
+      "OpenpilotEnabledToggle": (
+        lambda: tr("Enable sunnypilot"),
+        DESCRIPTIONS["OpenpilotEnabledToggle"],
+        "chffr_wheel.png",
+        True,
+      ),
+      "ExperimentalMode": (
+        lambda: tr("Experimental Mode"),
+        "",
+        "experimental_white.png",
+        False,
+      ),
+      "DisengageOnAccelerator": (
+        lambda: tr("Disengage on Accelerator Pedal"),
+        DESCRIPTIONS["DisengageOnAccelerator"],
+        "disengage_on_accelerator.png",
+        False,
+      ),
+      "IsLdwEnabled": (
+        lambda: tr("Enable Lane Departure Warnings"),
+        DESCRIPTIONS["IsLdwEnabled"],
+        "warning.png",
+        False,
+      ),
+      "AlwaysOnDM": (
+        lambda: tr("Always-On Driver Monitoring"),
+        DESCRIPTIONS["AlwaysOnDM"],
+        "monitoring.png",
+        False,
+      ),
+      "RecordFront": (
+        lambda: tr("Record and Upload Driver Camera"),
+        DESCRIPTIONS["RecordFront"],
+        "monitoring.png",
+        True,
+      ),
+      "RecordAudio": (
+        lambda: tr("Record and Upload Microphone Audio"),
+        DESCRIPTIONS["RecordAudio"],
+        "microphone.png",
+        True,
+      ),
+      "IsMetric": (
+        lambda: tr("Use Metric System"),
+        DESCRIPTIONS["IsMetric"],
+        "metric.png",
+        False,
+      ),
+    }
+
+    self._long_personality_setting = multiple_button_item(
+      lambda: tr("Driving Personality"),
+      lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]),
+      buttons=[lambda: tr("Aggressive"), lambda: tr("Standard"), lambda: tr("Relaxed")],
+      button_width=300,
+      callback=self._set_longitudinal_personality,
+      selected_index=self._params.get("LongitudinalPersonality", return_default=True),
+      icon="speed_limit.png"
+    )
+
+    self._toggles = {}
+    self._locked_toggles = set()
+    for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
+      toggle = toggle_item(
+        title,
+        desc,
+        self._params.get_bool(param),
+        callback=lambda state, p=param: self._toggle_callback(state, p),
+        icon=icon,
+      )
+
+      try:
+        locked = self._params.get_bool(param + "Lock")
+      except UnknownKeyName:
+        locked = False
+      toggle.action_item.set_enabled(not locked)
+
+      # Make description callable for live translation
+      additional_desc = ""
+      if needs_restart and not locked:
+        additional_desc = tr("Changing this setting will restart sunnypilot if the car is powered on.")
+      toggle.set_description(lambda og_desc=toggle.description, add_desc=additional_desc: tr(og_desc) + (" " + tr(add_desc) if add_desc else ""))
+
+      # track for engaged state updates
+      if locked:
+        self._locked_toggles.add(param)
+
+      self._toggles[param] = toggle
+
+      # insert longitudinal personality after NDOG toggle
+      if param == "DisengageOnAccelerator":
+        self._toggles["LongitudinalPersonality"] = self._long_personality_setting
+
+    self._update_experimental_mode_icon()
+    self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
+
+    ui_state.add_engaged_transition_callback(self._update_toggles)
+
+  def _update_state(self):
+    if ui_state.sm.updated["selfdriveState"]:
+      personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
+      if personality != ui_state.personality and ui_state.started:
+        self._long_personality_setting.action_item.set_selected_button(personality)
+      ui_state.personality = personality
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+    self._update_toggles()
+
+  def _update_toggles(self):
+    ui_state.update_params()
+
+    e2e_description = tr(
+      "sunnypilot 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. sunnypilot 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."
+    )
+
+    if ui_state.CP is not None:
+      if ui_state.has_longitudinal_control:
+        self._toggles["ExperimentalMode"].action_item.set_enabled(True)
+        self._toggles["ExperimentalMode"].set_description(e2e_description)
+        self._long_personality_setting.action_item.set_enabled(True)
+      else:
+        # no long for now
+        self._toggles["ExperimentalMode"].action_item.set_enabled(False)
+        self._toggles["ExperimentalMode"].action_item.set_state(False)
+        self._long_personality_setting.action_item.set_enabled(False)
+        self._params.remove("ExperimentalMode")
+
+        unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
+
+        long_desc = unavailable + " " + tr("sunnypilot longitudinal control may come in a future update.")
+        if ui_state.CP.alphaLongitudinalAvailable:
+          if self._is_release:
+            long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with " +
+                                               "Experimental mode, on non-release branches.")
+          else:
+            long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.")
+
+        self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
+    else:
+      self._toggles["ExperimentalMode"].set_description(e2e_description)
+
+    self._update_experimental_mode_icon()
+
+    # TODO: make a param control list item so we don't need to manage internal state as much here
+    # refresh toggles from params to mirror external changes
+    for param in self._toggle_defs:
+      self._toggles[param].action_item.set_state(self._params.get_bool(param))
+
+    # these toggles need restart, block while engaged
+    for toggle_def in self._toggle_defs:
+      if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
+        self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _update_experimental_mode_icon(self):
+    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 self._toggle_defs[param][3]:
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
+
+  def _set_longitudinal_personality(self, button_index: int):
+    self._params.put("LongitudinalPersonality", button_index, block=True)