FrogPilot Setup

selfdrive/ui/ui.cc

@@ -12,7 +12,6 @@
 #include "common/util.h"
 #include "common/watchdog.h"
 #include "system/hardware/hw.h"
-
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
 
@@ -201,6 +200,23 @@ static void update_state(UIState *s) {
   if (sm.updated("carParams")) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
+  if (sm.updated("carState")) {
+    auto carState = sm["carState"].getCarState();
+  }
+  if (sm.updated("controlsState")) {
+    auto controlsState = sm["controlsState"].getControlsState();
+    scene.enabled = controlsState.getEnabled();
+    scene.experimental_mode = controlsState.getExperimentalMode();
+  }
+  if (sm.updated("frogpilotCarControl")) {
+    auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl();
+  }
+  if (sm.updated("frogpilotPlan")) {
+    auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
+  }
+  if (sm.updated("liveLocationKalman")) {
+    auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
+  }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
@@ -221,6 +237,19 @@ void ui_update_params(UIState *s) {
   s->scene.map_on_left = params.getBool("NavSettingLeftSide");
 }
 
+void ui_update_frogpilot_params(UIState *s) {
+  ui_update_params(s);
+
+  Params params = Params();
+  UIScene &scene = s->scene;
+
+  bool custom_onroad_ui = params.getBool("CustomUI");
+
+  bool quality_of_life_controls = params.getBool("QOLControls");
+
+  bool quality_of_life_visuals = params.getBool("QOLVisuals");
+}
+
 void UIState::updateStatus() {
   if (scene.started && sm->updated("controlsState")) {
     auto controls_state = (*sm)["controlsState"].getControlsState();
@@ -249,6 +278,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
     "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
+    "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
   });
 
   Params params;
@@ -262,6 +292,8 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
   timer->start(1000 / UI_FREQ);
+
+  ui_update_frogpilot_params(this);
 }
 
 void UIState::update() {
@@ -273,6 +305,15 @@ void UIState::update() {
     watchdog_kick(nanos_since_boot());
   }
   emit uiUpdate(*this);
+
+  // Update FrogPilot variables when they are changed
+  Params paramsMemory{"/dev/shm/params"};
+  if (paramsMemory.getBool("FrogPilotTogglesUpdated")) {
+    std::thread updateFrogPilotParams(ui_update_frogpilot_params, this);
+    updateFrogPilotParams.detach();
+  }
+
+  // FrogPilot live variables that need to be constantly checked
 }
 
 void UIState::setPrimeType(PrimeType type) {