BigUI WIP: Meet The Parents

2026-09-29 10:53:49 +08:00 · 2026-07-01 01:52:11 -04:00
parent 4bb15dded4
commit f40881657c
4 changed files with 206 additions and 87 deletions
@@ -2952,6 +2952,14 @@ class SettingSection:
  row_height: int = ROW_HEIGHT


+@dataclass
+class ParentToggle:
+  label: str
+  get_state: Callable[[], bool]
+  set_state: Callable[[bool], None]
+  subtitle: str = ""
+
+
 # ── AetherSettingsView — reusable list-panel ManagerView ──

 class AetherSettingsView(PanelManagerView):
@@ -2965,6 +2973,7 @@ class AetherSettingsView(PanelManagerView):

  def __init__(self, controller, sections: list[SettingSection],
               *, header_title: str = "", header_subtitle: str = "",
+               parent_toggle: ParentToggle | None = None,
               tab_defs: list[dict] | None = None,
               panel_style=None, fade_height: float = AETHER_LIST_METRICS.fade_height,
               metrics = COMPACT_PANEL_METRICS):
@@ -2976,7 +2985,8 @@ class AetherSettingsView(PanelManagerView):
    self._sections = sections
    self._header_title = header_title
    self._header_subtitle = header_subtitle
-    self._has_header = bool(header_title)
+    self._parent_toggle = parent_toggle
+    self._has_header = bool(header_title) or parent_toggle is not None
    self._tab_defs = tab_defs
    self._active_tab_key = tab_defs[0]["id"] if tab_defs else ""
    self._scroll_panel = GuiScrollPanel2(horizontal=False)
@@ -2992,9 +3002,20 @@ class AetherSettingsView(PanelManagerView):
          return row
    return None

+  def _target_at(self, mouse_pos: MousePos) -> str | None:
+    if self._parent_toggle:
+      mid = f"parent_toggle:{self._parent_toggle.label}"
+      rect = self._interactive_rects.get(mid)
+      if rect and point_hits(mouse_pos, rect, None, pad_x=6, pad_y=6):
+        return mid
+    return super()._target_at(mouse_pos)
+
  def _activate_target(self, target_id: str | None):
    if not target_id:
      return
+    if target_id.startswith("parent_toggle:") and self._parent_toggle:
+      self._parent_toggle.set_state(not self._parent_toggle.get_state())
+      return
    if target_id.startswith("tab:") and self._tab_defs:
      self._active_tab_key = target_id[4:]
      return
@@ -3013,6 +3034,19 @@ class AetherSettingsView(PanelManagerView):
  def _compute_header_height(self, content_width: float) -> float:
    if not self._has_header:
      return 0.0
+    if self._parent_toggle:
+      h = max(42.0, 40.0)  # toggle (42px at header top) vs title area (32px + 8px gap)
+      subtitle_text = tr(self._parent_toggle.subtitle) if self._parent_toggle.subtitle else ""
+      if self._header_subtitle:
+        subtitle_text = tr(self._header_subtitle)
+      if subtitle_text:
+        toggle_take = AETHER_LIST_METRICS.toggle_width + AETHER_LIST_METRICS.toggle_right_inset + 16
+        col_w = max(100.0, content_width + AETHER_LIST_METRICS.content_right_gutter - toggle_take)
+        desc_font = gui_app.font(FontWeight.NORMAL)
+        desc_lines = wrap_text(desc_font, subtitle_text, col_w, 18, max_lines=4)
+        h += len(desc_lines) * 22.0 + 12.0
+      h += SECTION_GAP
+      return h
    h = 40.0  # title (32px) + inner gap (8px)
    if self._header_subtitle:
      subtitle_text = tr(self._header_subtitle)
@@ -3066,7 +3100,42 @@ class AetherSettingsView(PanelManagerView):
  def _draw_header(self, rect: rl.Rectangle):
    title = tr(self._header_title) if self._header_title else ""
    subtitle = tr(self._header_subtitle) if self._header_subtitle else ""
-    draw_settings_panel_header(rect, title, subtitle, title_size=32, subtitle_size=18)
+
+    if self._parent_toggle:
+      toggle = self._parent_toggle
+
+      display_title = title if title else tr(toggle.label)
+      subtitle_text = subtitle if subtitle else (tr(toggle.subtitle) if toggle.subtitle else "")
+
+      toggle_take = AETHER_LIST_METRICS.toggle_width + AETHER_LIST_METRICS.toggle_right_inset + 16
+      text_rect = rl.Rectangle(rect.x, rect.y, max(100.0, rect.width - toggle_take), rect.height)
+      draw_settings_panel_header(text_rect, display_title, subtitle_text, title_size=32, subtitle_size=18)
+
+      toggle_id = f"parent_toggle:{toggle.label}"
+      tw = AETHER_LIST_METRICS.toggle_width
+      th = AETHER_LIST_METRICS.toggle_height
+      ri = AETHER_LIST_METRICS.toggle_right_inset
+      toggle_rect = rl.Rectangle(rect.x + rect.width - tw - ri, rect.y, tw, th)
+      self._interactive_rects[toggle_id] = toggle_rect
+
+      toggle_value = toggle.get_state()
+      target_progress = 1.0 if toggle_value else 0.0
+      current_progress = _KNOB_ANIMATION_STATES.get(toggle_id, target_progress)
+      dt = rl.get_frame_time()
+      current_progress += (target_progress - current_progress) * 12.0 * dt
+      if abs(current_progress - target_progress) < 0.001:
+        current_progress = target_progress
+      _KNOB_ANIMATION_STATES[toggle_id] = current_progress
+
+      draw_toggle_switch(
+        rl.Rectangle(rect.x, rect.y, rect.width, th),
+        toggle_value,
+        knob_progress=current_progress,
+        track_color=self._panel_style.accent,
+        seed_id=toggle_id,
+      )
+    else:
+      draw_settings_panel_header(rect, title, subtitle, title_size=32, subtitle_size=18)

  def _active_sections(self) -> list[SettingSection]:
    if self._tab_defs and self._active_tab_key:
@@ -3129,12 +3198,20 @@ class AetherSettingsView(PanelManagerView):
    active = self._active_sections()
    has_visible = any(self._visible_rows(s) for s in active)
    if not has_visible:
-      draw_empty_state_card(
-        rl.Rectangle(rect.x, y, width, rect.height - (y - rect.y)),
-        tr("No settings to display"),
-        tr("All options in this panel are hidden or unavailable."),
-        style=self._panel_style,
-      )
+      if self._parent_toggle and not self._parent_toggle.get_state():
+        draw_empty_state_card(
+          rl.Rectangle(rect.x, y, width, rect.height - (y - rect.y)),
+          tr("Enable {} to configure settings.").format(tr(self._parent_toggle.label)),
+          "",
+          style=self._panel_style,
+        )
+      elif not self._parent_toggle:
+        draw_empty_state_card(
+          rl.Rectangle(rect.x, y, width, rect.height - (y - rect.y)),
+          tr("No settings to display"),
+          tr("All options in this panel are hidden or unavailable."),
+          style=self._panel_style,
+        )
      return
    i = 0
    while i < len(active):
@@ -15,6 +15,7 @@ import pyray as rl
 from openpilot.selfdrive.ui.layouts.settings.starpilot.aethergrid import (
    AetherSliderDialog,
    DEFAULT_PANEL_STYLE,
+    ParentToggle,
    SettingRow,
    SettingSection,
    AetherSettingsView,
@@ -177,6 +178,14 @@ class StarPilotAppearanceLayout(_SettingsPage):
        super().__init__()
        self._build_view()

+    def _make_parent(self, key: str, label: str, subtitle: str = "") -> ParentToggle:
+        return ParentToggle(
+            label=label,
+            subtitle=subtitle,
+            get_state=lambda k=key: self._params.get_bool(k),
+            set_state=lambda s, k=key: self._params.put_bool(k, s),
+        )
+
    def _show_lead_detection_threshold_selector(self):
        def on_close(res, val):
            if res == DialogResult.CONFIRM:
@@ -197,127 +206,146 @@ class StarPilotAppearanceLayout(_SettingsPage):
        po = lambda: self._params.get_bool("PedalsOnUI")
        ol = lambda: starpilot_state.car_state.hasOpenpilotLongitudinal
        bsm = lambda: starpilot_state.car_state.hasBSM
+        model_on = lambda: self._params.get_bool("ModelUI")
+        hud_on = lambda: self._params.get_bool("CustomUI")

        # ═══ 1. Model & Path Visualization ═══
        self._model_rows = [
-            SettingRow("ModelUI", "toggle", tr_noop("Model UI"),
-                       subtitle=tr_noop("Display the driving model path, lanes, and road edges."),
-                       get_state=lambda: self._params.get_bool("ModelUI"),
-                       set_state=lambda s: self._params.put_bool("ModelUI", s)),
            SettingRow("DynamicPathWidth", "toggle", tr_noop("Dynamic Path"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("DynamicPathWidth"),
-                       set_state=lambda s: self._params.put_bool("DynamicPathWidth", s)),
+                       set_state=lambda s: self._params.put_bool("DynamicPathWidth", s),
+                       visible=model_on),
            SettingRow("LaneLinesWidth", "value", tr_noop("Lane Line Width"),
                       subtitle="",
                       get_value=self._get_lane_lines_display,
-                       on_click=lambda: self._show_int_selector("LaneLinesWidth", 0, 24, self._get_lane_lines_unit())),
+                       on_click=lambda: self._show_int_selector("LaneLinesWidth", 0, 24, self._get_lane_lines_unit()),
+                       visible=model_on),
            SettingRow("LaneLinesColor", "value", tr_noop("Lane Line Color"),
                       subtitle="",
                       get_value=lambda: self._get_color_display("LaneLinesColor"),
-                       on_click=lambda: self._show_color_selector("LaneLinesColor")),
+                       on_click=lambda: self._show_color_selector("LaneLinesColor"),
+                       visible=model_on),
            SettingRow("PathWidth", "value", tr_noop("Path Width"),
                       subtitle="",
                       get_value=self._get_path_width_display,
-                       on_click=self._show_path_width_selector),
+                       on_click=self._show_path_width_selector,
+                       visible=model_on),
            SettingRow("PathEdgeWidth", "value", tr_noop("Path Edge Width"),
                       subtitle="",
                       get_value=lambda: f"{self._params.get_int('PathEdgeWidth')}%",
-                       on_click=lambda: self._show_int_selector("PathEdgeWidth", 0, 100, "%")),
+                       on_click=lambda: self._show_int_selector("PathEdgeWidth", 0, 100, "%"),
+                       visible=model_on),
            SettingRow("PathEdgesColor", "value", tr_noop("Path Edge Color"),
                       subtitle="",
                       get_value=lambda: self._get_color_display("PathEdgesColor"),
-                       on_click=lambda: self._show_color_selector("PathEdgesColor")),
+                       on_click=lambda: self._show_color_selector("PathEdgesColor"),
+                       visible=model_on),
            SettingRow("PathColor", "value", tr_noop("Path Color"),
                       subtitle="",
                       get_value=lambda: self._get_color_display("PathColor"),
-                       on_click=lambda: self._show_color_selector("PathColor")),
+                       on_click=lambda: self._show_color_selector("PathColor"),
+                       visible=model_on),
            SettingRow("RoadEdgesWidth", "value", tr_noop("Road Edge Width"),
                       subtitle="",
                       get_value=self._get_road_edges_display,
-                       on_click=lambda: self._show_int_selector("RoadEdgesWidth", 0, 24, self._get_road_edges_unit())),
+                       on_click=lambda: self._show_int_selector("RoadEdgesWidth", 0, 24, self._get_road_edges_unit()),
+                       visible=model_on),
            SettingRow("RainbowPath", "toggle", tr_noop("Rainbow Path"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("RainbowPath"),
-                       set_state=lambda s: self._params.put_bool("RainbowPath", s)),
+                       set_state=lambda s: self._params.put_bool("RainbowPath", s),
+                       visible=model_on),
            SettingRow("AccelerationPath", "toggle", tr_noop("Acceleration Path"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("AccelerationPath"),
                       set_state=lambda s: self._params.put_bool("AccelerationPath", s),
-                       enabled=ol),
+                       enabled=ol,
+                       visible=model_on),
            SettingRow("AdjacentPath", "toggle", tr_noop("Adjacent Lanes"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("AdjacentPath"),
-                       set_state=lambda s: self._params.put_bool("AdjacentPath", s)),
+                       set_state=lambda s: self._params.put_bool("AdjacentPath", s),
+                       visible=model_on),
            SettingRow("AdjacentPathMetrics", "toggle", tr_noop("Adjacent Lane Metrics"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("AdjacentPathMetrics"),
-                       set_state=lambda s: self._params.put_bool("AdjacentPathMetrics", s)),
+                       set_state=lambda s: self._params.put_bool("AdjacentPathMetrics", s),
+                       visible=model_on),
            SettingRow("BlindSpotPath", "toggle", tr_noop("Blind Spot Path"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("BlindSpotPath"),
                       set_state=lambda s: self._params.put_bool("BlindSpotPath", s),
-                       enabled=bsm),
+                       enabled=bsm,
+                       visible=model_on),
        ]

        # ═══ 2. Driving Widgets & HUD ═══
        self._hud_rows = [
-            SettingRow("CustomUI", "toggle", tr_noop("Driving Screen Widgets"),
-                       subtitle=tr_noop("Show interactive indicators on the driving screen."),
-                       get_state=lambda: self._params.get_bool("CustomUI"),
-                       set_state=lambda s: self._params.put_bool("CustomUI", s)),
            SettingRow("Compass", "toggle", tr_noop("Compass"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("Compass"),
-                       set_state=lambda s: self._params.put_bool("Compass", s)),
+                       set_state=lambda s: self._params.put_bool("Compass", s),
+                       visible=hud_on),
            SettingRow("OnroadDistanceButton", "toggle", tr_noop("Personality Button"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("OnroadDistanceButton"),
-                       set_state=lambda s: self._params.put_bool("OnroadDistanceButton", s)),
+                       set_state=lambda s: self._params.put_bool("OnroadDistanceButton", s),
+                       visible=hud_on),
            SettingRow("RotatingWheel", "toggle", tr_noop("Rotating Wheel"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("RotatingWheel"),
-                       set_state=lambda s: self._params.put_bool("RotatingWheel", s)),
+                       set_state=lambda s: self._params.put_bool("RotatingWheel", s),
+                       visible=hud_on),
            SettingRow("ShowSteering", "toggle", tr_noop("Steering Torque Indicator"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("ShowSteering"),
-                       set_state=lambda s: self._params.put_bool("ShowSteering", s)),
+                       set_state=lambda s: self._params.put_bool("ShowSteering", s),
+                       visible=hud_on),
            SettingRow("SignalMetrics", "toggle", tr_noop("Turn Signal Borders"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("SignalMetrics"),
-                       set_state=lambda s: self._params.put_bool("SignalMetrics", s)),
+                       set_state=lambda s: self._params.put_bool("SignalMetrics", s),
+                       visible=hud_on),
            SettingRow("BlindSpotMetrics", "toggle", tr_noop("Blind Spot Borders"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("BlindSpotMetrics"),
                       set_state=lambda s: self._params.put_bool("BlindSpotMetrics", s),
-                       enabled=bsm),
+                       enabled=bsm,
+                       visible=hud_on),
            SettingRow("WheelSpeed", "toggle", tr_noop("Wheel Speed"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("WheelSpeed"),
-                       set_state=lambda s: self._params.put_bool("WheelSpeed", s)),
+                       set_state=lambda s: self._params.put_bool("WheelSpeed", s),
+                       visible=hud_on),
            SettingRow("BorderWidth", "value", tr_noop("Border Width"),
                       subtitle="",
                       get_value=lambda: f"{int(round(self._params.get_float('BorderWidth')))}%",
-                       on_click=lambda: self._show_float_selector("BorderWidth", 25, 250, 5, "%")),
+                       on_click=lambda: self._show_float_selector("BorderWidth", 25, 250, 5, "%"),
+                       visible=hud_on),
            SettingRow("PedalsOnUI", "toggle", tr_noop("Pedal Indicators"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("PedalsOnUI"),
                       set_state=lambda s: self._params.put_bool("PedalsOnUI", s),
-                       enabled=ol),
+                       enabled=ol,
+                       visible=hud_on),
            SettingRow("DynamicPedalsOnUI", "toggle", tr_noop("Dynamic Pedals"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("DynamicPedalsOnUI"),
                       set_state=lambda s: self._set_exclusive_pedal("DynamicPedalsOnUI", "StaticPedalsOnUI", s),
-                       enabled=lambda: po() and ol()),
+                       enabled=lambda: po() and ol(),
+                       visible=hud_on),
            SettingRow("StaticPedalsOnUI", "toggle", tr_noop("Static Pedals"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("StaticPedalsOnUI"),
                       set_state=lambda s: self._set_exclusive_pedal("StaticPedalsOnUI", "DynamicPedalsOnUI", s),
-                       enabled=lambda: po() and ol()),
+                       enabled=lambda: po() and ol(),
+                       visible=hud_on),
            SettingRow("StoppedTimer", "toggle", tr_noop("Stopped Timer"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("StoppedTimer"),
-                       set_state=lambda s: self._params.put_bool("StoppedTimer", s)),
+                       set_state=lambda s: self._params.put_bool("StoppedTimer", s),
+                       visible=hud_on),
        ]

        # ═══ 3. Screen Declutter & Visibility ═══
@@ -461,12 +489,18 @@ class StarPilotAppearanceLayout(_SettingsPage):
            panel_style=PANEL_STYLE,
        )

+        pt_model = self._make_parent("ModelUI", "Model UI",
+            "Display the driving model path, lanes, and road edges.")
+        pt_hud = self._make_parent("CustomUI", "Driving Screen Widgets",
+            "Show interactive indicators on the driving screen.")
+
        # Register subpanels for Level 2 slide transitions
        self._sub_panels["model"] = AetherSettingsView(
            self,
            [SettingSection(title="", rows=self._model_rows)],
            header_title=tr_noop("Model & Path Visualization"),
            header_subtitle=tr_noop("Customize dynamic lane paths, road edges, and colors."),
+            parent_toggle=pt_model,
            panel_style=PANEL_STYLE,
        )
        self._sub_panels["hud"] = AetherSettingsView(
@@ -474,6 +508,7 @@ class StarPilotAppearanceLayout(_SettingsPage):
            [SettingSection(title="", rows=self._hud_rows)],
            header_title=tr_noop("Driving Widgets & HUD"),
            header_subtitle=tr_noop("Configure compass, dynamic pedals, signals, and screen borders."),
+            parent_toggle=pt_hud,
            panel_style=PANEL_STYLE,
        )
        self._sub_panels["declutter"] = AetherSettingsView(
@@ -13,6 +13,7 @@ from openpilot.selfdrive.ui.layouts.settings.starpilot.panel import _SettingsPag
 from openpilot.selfdrive.ui.layouts.settings.starpilot.aethergrid import (
  DEFAULT_PANEL_STYLE,
  AetherSettingsView,
+  ParentToggle,
  SettingRow,
  SettingSection,
  TileGrid,
@@ -140,6 +141,14 @@ class StarPilotLateralLayout(_SettingsPage):
    super().__init__()
    self._build_panels()

+  def _make_parent(self, key: str, label: str, subtitle: str = "") -> ParentToggle:
+    return ParentToggle(
+      label=label,
+      subtitle=subtitle,
+      get_state=lambda k=key: self._params.get_bool(k),
+      set_state=lambda s, k=key: self._params.put_bool(k, s),
+    )
+
  def _build_panels(self):
    p = self._params
    cs = starpilot_state.car_state
@@ -161,12 +170,6 @@ class StarPilotLateralLayout(_SettingsPage):

    # ── 1. Steering Behavior ──
    self._behavior_rows = [
-      SettingRow(
-        "AlwaysOnLateral", "toggle", tr_noop("Always On Lateral"),
-        subtitle=tr_noop("Steering stays active when ACC is off."),
-        get_state=lambda: p.get_bool("AlwaysOnLateral"),
-        set_state=lambda s: _confirm_reboot_toggle(p, "AlwaysOnLateral", s) if s else p.put_bool("AlwaysOnLateral", False),
-      ),
      SettingRow(
        "PauseAOLOnBrake", "value", tr_noop("Pause AOL On Brake"),
        subtitle=tr_noop("Pause AOL below this speed while brake is pressed."),
@@ -203,12 +206,6 @@ class StarPilotLateralLayout(_SettingsPage):

    # ── 2. Lane Changes ──
    self._lane_change_rows = [
-      SettingRow(
-        "LaneChanges", "toggle", tr_noop("Lane Changes"),
-        subtitle=tr_noop("Allow openpilot to change lanes."),
-        get_state=lambda: p.get_bool("LaneChanges"),
-        set_state=lambda s: p.put_bool("LaneChanges", s),
-      ),
      SettingRow(
        "NudgelessLaneChange", "toggle", tr_noop("Auto Lane Changes"),
        subtitle=tr_noop("Signal triggers automatic lane change."),
@@ -255,12 +252,6 @@ class StarPilotLateralLayout(_SettingsPage):

    # ── 3. Advanced Lateral Tuning ──
    self._advanced_rows = [
-      SettingRow(
-        "AdvancedLateralTune", "toggle", tr_noop("Advanced Lateral Tuning"),
-        subtitle=tr_noop("Fine-tune steering response and auto-tuning."),
-        get_state=lambda: p.get_bool("AdvancedLateralTune"),
-        set_state=lambda s: p.put_bool("AdvancedLateralTune", s),
-      ),
      SettingRow(
        "NNFF", "toggle", tr_noop("NNFF"),
        subtitle=tr_noop("Neural net feedforward steering controller."),
@@ -365,12 +356,25 @@ class StarPilotLateralLayout(_SettingsPage):
      header_subtitle=tr_noop("Configure steering behavior and lane changes."),
    )

+    p = self._params
+    pt_behavior = ParentToggle(
+      label="Always On Lateral",
+      subtitle="Steering stays active when ACC is off.",
+      get_state=lambda: p.get_bool("AlwaysOnLateral"),
+      set_state=lambda s: _confirm_reboot_toggle(p, "AlwaysOnLateral", s) if s else p.put_bool("AlwaysOnLateral", False),
+    )
+    pt_lane_changes = self._make_parent("LaneChanges", "Lane Changes",
+      "Allow openpilot to change lanes.")
+    pt_advanced = self._make_parent("AdvancedLateralTune", "Advanced Lateral Tuning",
+      "Fine-tune steering response and auto-tuning.")
+
    # Register subpanels for Level 2 slide transitions
    self._sub_panels["behavior"] = AetherSettingsView(
      self,
      [SettingSection(title="", rows=self._behavior_rows)],
      header_title=tr_noop("Steering Behavior"),
      header_subtitle=tr_noop("Configure Always On Lateral (AOL), pause speed thresholds, and turn signal behaviors."),
+      parent_toggle=pt_behavior,
      panel_style=PANEL_STYLE,
    )
    self._sub_panels["lane_changes"] = AetherSettingsView(
@@ -378,6 +382,7 @@ class StarPilotLateralLayout(_SettingsPage):
      [SettingSection(title="", rows=self._lane_change_rows)],
      header_title=tr_noop("Lane Changes"),
      header_subtitle=tr_noop("Configure automatic lane changes, speed/width thresholds, and smoothing parameters."),
+      parent_toggle=pt_lane_changes,
      panel_style=PANEL_STYLE,
    )
    self._sub_panels["advanced"] = AetherSettingsView(
@@ -385,6 +390,7 @@ class StarPilotLateralLayout(_SettingsPage):
      [SettingSection(title="", rows=self._advanced_rows)],
      header_title=tr_noop("Advanced Lateral Tuning"),
      header_subtitle=tr_noop("Adjust actuator delay, steer ratio, Kp, friction, and neural network feedforward controllers."),
+      parent_toggle=pt_advanced,
      panel_style=PANEL_STYLE,
    )
    self._wire_sub_panels()
@@ -19,6 +19,7 @@ from openpilot.selfdrive.ui.layouts.settings.starpilot.aethergrid import (
  AETHER_LIST_METRICS,
  AetherSliderDialog,
  DEFAULT_PANEL_STYLE,
+  ParentToggle,
  SettingRow,
  SettingSection,
  AetherSettingsView,
@@ -249,6 +250,14 @@ class StarPilotLongitudinalLayout(_SettingsPage):
  def _show_stop_tuning_values(self) -> bool:
    return self._advanced_enabled() and not (starpilot_state.car_state.isToyota and self._params.get_bool("FrogsGoMoosTweak"))

+  def _make_parent(self, key: str, label: str, subtitle: str = "") -> ParentToggle:
+    return ParentToggle(
+      label=label,
+      subtitle=subtitle,
+      get_state=lambda k=key: self._params.get_bool(k),
+      set_state=lambda s, k=key: self._params.put_bool(k, s),
+    )
+
  def _build_view(self):
    ol = lambda: starpilot_state.car_state.hasOpenpilotLongitudinal
    ce_on = lambda: self._params.get_bool("ConditionalExperimental")
@@ -258,10 +267,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):
    
    # ── 1. Longitudinal Tuning Rows ──
    self._tune_rows = [
-      SettingRow("LongitudinalTune", "toggle", tr_noop("Longitudinal Tuning"),
-                 subtitle=tr_noop("Acceleration and braking control changes to fine-tune how openpilot drives."),
-                 get_state=lambda: self._params.get_bool("LongitudinalTune"),
-                 set_state=lambda s: self._params.put_bool("LongitudinalTune", s)),
      SettingRow("AccelProfile", "value", tr_noop("Acceleration Profile"),
                 subtitle=tr_noop("Choose how quickly openpilot speeds up."),
                 get_value=self._get_acceleration_profile_label,
@@ -297,10 +302,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):
    # ── 2. Advanced Actuators Rows ──
    adv = self._advanced_enabled
    self._advanced_rows = [
-      SettingRow("AdvancedLongitudinalTune", "toggle", tr_noop("Advanced Longitudinal Tuning"),
-                 subtitle=tr_noop("Advanced acceleration and braking changes for refining launch, stopping, and actuator response."),
-                 get_state=lambda: self._params.get_bool("AdvancedLongitudinalTune"),
-                 set_state=lambda s: self._params.put_bool("AdvancedLongitudinalTune", s)),
      SettingRow("EVTuning", "toggle", tr_noop("EV Tuning"),
                 subtitle=tr_noop("Acceleration tuning for EV and direct-drive vehicles."),
                 get_state=lambda: self._params.get_bool("EVTuning"),
@@ -359,10 +360,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):

    # ── 3. Speed Limit Controller (SLC) Rows ──
    self._slc_rows = [
-      SettingRow("SLC", "toggle", tr_noop("Speed Limit Controller"),
-                 subtitle=tr_noop("Limit the car's maximum speed to the current speed limit."),
-                 get_state=lambda: self._params.get_bool("SpeedLimitController"),
-                 set_state=lambda s: self._params.put_bool("SpeedLimitController", s)),
      SettingRow("SLCFallback", "value", tr_noop("Fallback Speed"),
                 subtitle="",
                 get_value=lambda: self._params.get("SLCFallback", encoding="utf-8") or "Set Speed",
@@ -436,10 +433,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):

    # ── 4. Adaptive Speed Controls Rows (CES + CSC) ──
    self._conditional_experimental_rows = [
-      SettingRow("ConditionalExperimental", "toggle", tr_noop("Conditional Experimental Mode"),
-                 subtitle="",
-                 get_state=lambda: self._params.get_bool("ConditionalExperimental"),
-                 set_state=lambda s: self._params.put_bool("ConditionalExperimental", s)),
      SettingRow("PersistExp", "toggle", tr_noop("Persist Experimental State"),
                 subtitle=tr_noop("Keep override through reboots until manually cleared."),
                 get_state=lambda: self._params.get_bool("PersistExperimentalState"),
@@ -508,10 +501,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):
    ]

    self._curve_speed_controller_rows = [
-      SettingRow("CurveSpeed", "toggle", tr_noop("Curve Speed Controller"),
-                 subtitle="",
-                 get_state=lambda: self._params.get_bool("CurveSpeedController"),
-                 set_state=lambda s: self._params.put_bool("CurveSpeedController", s)),
      SettingRow("ShowCSCStatus", "toggle", tr_noop("Status Widget"),
                 subtitle=tr_noop("Show the Curve Speed Controller ambient effect on the driving screen."),
                 get_state=lambda: self._params.get_bool("ShowCSCStatus"),
@@ -537,10 +526,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):

    # ── 5. Driving Personalities Rows ──
    self._personality_rows = [
-      SettingRow("PersonalitiesToggle", "toggle", tr_noop("Driving Personalities"),
-                 subtitle="",
-                 get_state=lambda: self._params.get_bool("CustomPersonalities"),
-                 set_state=lambda s: self._params.put_bool("CustomPersonalities", s)),
      SettingRow("Traffic", "value", tr_noop("Traffic"),
                 subtitle=tr_noop("Configure follow distance, smoothness, and response for traffic conditions."),
                 get_value=lambda: tr_noop("Configure"),
@@ -561,10 +546,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):

    # ── 6. Daily QOL & Weather Rows ──
    self._daily_rows = [
-      SettingRow("QOLToggle", "toggle", tr_noop("Quality of Life"),
-                 subtitle="",
-                 get_state=lambda: self._params.get_bool("QOLLongitudinal"),
-                 set_state=lambda s: self._params.put_bool("QOLLongitudinal", s)),
      SettingRow("CustomCruise", "value", tr_noop("Cruise Interval"),
                 subtitle="",
                 get_value=lambda: f"{max(1, self._params.get_int('CustomCruise'))} mph",
@@ -661,6 +642,19 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      panel_style=PANEL_STYLE,
    )

+    pt_tune = self._make_parent("LongitudinalTune", "Longitudinal Tuning",
+      "Acceleration and braking control changes to fine-tune how openpilot drives.")
+    pt_advanced = self._make_parent("AdvancedLongitudinalTune", "Advanced Longitudinal Tuning",
+      "Advanced acceleration and braking changes for refining launch, stopping, and actuator response.")
+    pt_personality = self._make_parent("CustomPersonalities", "Driving Personalities")
+    pt_daily = self._make_parent("QOLLongitudinal", "Quality of Life")
+    pt_slc = self._make_parent("SpeedLimitController", "Speed Limit Controller",
+      "Limit the car's maximum speed to the current speed limit.")
+    pt_ce = self._make_parent("ConditionalExperimental", "Conditional Experimental",
+      "Configure triggers and threshold speeds for automated Experimental Mode switching.")
+    pt_csc = self._make_parent("CurveSpeedController", "Curve Speed Controller",
+      "Configure speed control on curves and reset collected calibration data.")
+
    ce_rows = self._conditional_experimental_rows
    self._sub_panels["ce"] = AetherSettingsView(
      self,
@@ -670,6 +664,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      ],
      header_title=tr("Conditional Experimental"),
      header_subtitle=tr("Configure triggers and threshold speeds for automated Experimental Mode switching."),
+      parent_toggle=pt_ce,
      panel_style=PANEL_STYLE,
    )

@@ -682,6 +677,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      ],
      header_title=tr("Curve Speed Controller"),
      header_subtitle=tr("Configure speed control on curves and reset collected calibration data."),
+      parent_toggle=pt_csc,
      panel_style=PANEL_STYLE,
    )

@@ -693,6 +689,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      [SettingSection(title="", rows=self._tune_rows)],
      header_title=tr_noop("Longitudinal Tuning"),
      header_subtitle=tr_noop("Configure acceleration profiles, smooth following, lane changes, and route speed control."),
+      parent_toggle=pt_tune,
      panel_style=PANEL_STYLE,
    )
    self._sub_panels["advanced"] = AetherSettingsView(
@@ -700,6 +697,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      [SettingSection(title="", rows=self._advanced_rows)],
      header_title=tr_noop("Advanced Actuators"),
      header_subtitle=tr_noop("Adjust actuator delay, EV/Truck tuning, and launch/stop speeds/rates."),
+      parent_toggle=pt_advanced,
      panel_style=PANEL_STYLE,
    )
    self._sub_panels["slc"] = AetherSettingsView(
@@ -707,6 +705,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      [SettingSection(title="", rows=self._slc_rows)],
      header_title=tr_noop("Speed Limit Controller"),
      header_subtitle=tr_noop("Manage auto speed matching, confirmation, offsets, and source priority."),
+      parent_toggle=pt_slc,
      panel_style=PANEL_STYLE,
    )
    self._sub_panels["personality"] = AetherSettingsView(
@@ -714,6 +713,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      [SettingSection(title="", rows=self._personality_rows)],
      header_title=tr_noop("Driving Personalities"),
      header_subtitle=tr_noop("Customize follow distance and jerk/response metrics for each personality profile."),
+      parent_toggle=pt_personality,
      panel_style=PANEL_STYLE,
    )
    self._sub_panels["daily"] = AetherSettingsView(
@@ -721,6 +721,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
      [SettingSection(title="", rows=self._daily_rows)],
      header_title=tr_noop("Daily QOL & Weather"),
      header_subtitle=tr_noop("Configure cruise intervals, standstill behaviors, gear mapping, and weather presets."),
+      parent_toggle=pt_daily,
      panel_style=PANEL_STYLE,
    )
    self._wire_sub_panels()