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selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc
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302
selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc
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#include <QDir>
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#include <QRegularExpression>
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#include <QTextStream>
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#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h"
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QStringList getCarNames(const QString &carMake) {
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QMap<QString, QString> makeMap;
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makeMap["acura"] = "honda";
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makeMap["audi"] = "volkswagen";
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makeMap["buick"] = "gm";
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makeMap["cadillac"] = "gm";
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makeMap["chevrolet"] = "gm";
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makeMap["chrysler"] = "chrysler";
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makeMap["dodge"] = "chrysler";
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makeMap["ford"] = "ford";
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makeMap["gm"] = "gm";
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makeMap["gmc"] = "gm";
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makeMap["genesis"] = "hyundai";
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makeMap["honda"] = "honda";
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makeMap["hyundai"] = "hyundai";
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makeMap["infiniti"] = "nissan";
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makeMap["jeep"] = "chrysler";
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makeMap["kia"] = "hyundai";
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makeMap["lexus"] = "toyota";
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makeMap["lincoln"] = "ford";
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makeMap["man"] = "volkswagen";
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makeMap["mazda"] = "mazda";
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makeMap["nissan"] = "nissan";
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makeMap["ram"] = "chrysler";
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makeMap["seat"] = "volkswagen";
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makeMap["škoda"] = "volkswagen";
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makeMap["subaru"] = "subaru";
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makeMap["tesla"] = "tesla";
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makeMap["toyota"] = "toyota";
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makeMap["volkswagen"] = "volkswagen";
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QString dirPath = "../car";
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QDir dir(dirPath);
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QString targetFolder = makeMap.value(carMake, carMake);
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QStringList names;
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QString filePath = dir.absoluteFilePath(targetFolder + "/values.py");
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QFile file(filePath);
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if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
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QTextStream in(&file);
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QRegularExpression regex(R"delimiter(\w+\s*=\s*\w+PlatformConfig\(\s*"([^"]+)",)delimiter");
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QRegularExpressionMatchIterator it = regex.globalMatch(in.readAll());
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while (it.hasNext()) {
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QRegularExpressionMatch match = it.next();
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names << match.captured(1);
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}
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file.close();
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}
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std::sort(names.begin(), names.end());
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return names;
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}
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FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
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selectMakeButton = new ButtonControl(tr("Select Make"), tr("SELECT"));
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QObject::connect(selectMakeButton, &ButtonControl::clicked, [this]() {
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QStringList makes = {
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"Acura", "Audi", "BMW", "Buick", "Cadillac", "Chevrolet", "Chrysler", "Dodge", "Ford", "GM", "GMC",
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"Genesis", "Honda", "Hyundai", "Infiniti", "Jeep", "Kia", "Lexus", "Lincoln", "MAN", "Mazda",
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"Mercedes", "Nissan", "Ram", "SEAT", "Škoda", "Subaru", "Tesla", "Toyota", "Volkswagen", "Volvo",
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};
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QString newMakeSelection = MultiOptionDialog::getSelection(tr("Select a Make"), makes, "", this);
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if (!newMakeSelection.isEmpty()) {
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carMake = newMakeSelection;
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params.putNonBlocking("CarMake", carMake.toStdString());
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selectMakeButton->setValue(newMakeSelection);
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setModels();
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}
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});
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addItem(selectMakeButton);
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selectModelButton = new ButtonControl(tr("Select Model"), tr("SELECT"));
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QString modelSelection = QString::fromStdString(params.get("CarModel"));
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QObject::connect(selectModelButton, &ButtonControl::clicked, [this]() {
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QString newModelSelection = MultiOptionDialog::getSelection(tr("Select a Model"), models, "", this);
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if (!newModelSelection.isEmpty()) {
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params.putNonBlocking("CarModel", newModelSelection.toStdString());
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selectModelButton->setValue(newModelSelection);
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}
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});
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selectModelButton->setValue(modelSelection);
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addItem(selectModelButton);
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selectModelButton->setVisible(false);
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ParamControl *forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("Forces the selected fingerprint and prevents it from ever changing."), "", this);
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addItem(forceFingerprint);
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bool disableOpenpilotLongState = params.getBool("DisableOpenpilotLongitudinal");
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disableOpenpilotLong = new ToggleControl(tr("Disable openpilot Longitudinal Control"), tr("Disable openpilot longitudinal control and use stock ACC instead."), "", disableOpenpilotLongState);
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QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [=](bool state) {
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if (state) {
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if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely disable openpilot longitudinal control?"), this)) {
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params.putBool("DisableOpenpilotLongitudinal", state);
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if (started) {
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if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) {
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Hardware::reboot();
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}
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}
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}
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} else {
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params.putBool("DisableOpenpilotLongitudinal", state);
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}
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updateCarToggles();
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});
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addItem(disableOpenpilotLong);
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std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
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{"EVTable", tr("EV Lookup Tables"), tr("Smoothen out the gas and brake controls for EV vehicles."), ""},
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{"LongPitch", tr("Long Pitch Compensation"), tr("Smoothen out the gas and pedal controls."), ""},
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{"GasRegenCmd", tr("Truck Tune"), tr("Increase the acceleration and smoothen out the brake control when coming to a stop. For use on Silverado/Sierra only."), ""},
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{"CrosstrekTorque", tr("Subaru Crosstrek Torque Increase"), tr("Increases the maximum allowed torque for the Subaru Crosstrek."), ""},
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{"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically lock the doors when in drive and unlock when in park."), ""},
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{"LongitudinalTune", tr("Longitudinal Tune"), tr("Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around FrogsGoMoo's 2019 Lexus ES 350"), ""},
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{"SNGHack", tr("Stop and Go Hack"), tr("Enable the 'Stop and Go' hack for vehicles without stock stop and go functionality."), ""},
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};
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for (const auto &[param, title, desc, icon] : vehicleToggles) {
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ParamControl *toggle;
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if (param == "LongitudinalTune") {
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std::vector<std::pair<QString, QString>> tuneOptions{
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{"StockTune", tr("Stock")},
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{"CydiaTune", tr("Cydia")},
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{"DragonPilotTune", tr("DragonPilot")},
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{"FrogsGoMooTune", tr("FrogPilot")},
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};
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toggle = new FrogPilotButtonsParamControl(param, title, desc, icon, tuneOptions);
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QObject::connect(static_cast<FrogPilotButtonsParamControl*>(toggle), &FrogPilotButtonsParamControl::buttonClicked, [this]() {
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if (started) {
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if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) {
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Hardware::soft_reboot();
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}
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}
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});
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} else if (param == "ToyotaDoors") {
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std::vector<QString> lockToggles{"LockDoors", "UnlockDoors"};
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std::vector<QString> lockToggleNames{tr("Lock"), tr("Unlock")};
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toggle = new FrogPilotParamToggleControl(param, title, desc, icon, lockToggles, lockToggleNames);
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} else {
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toggle = new ParamControl(param, title, desc, icon, this);
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}
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toggle->setVisible(false);
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addItem(toggle);
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toggles[param.toStdString()] = toggle;
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QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
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updateToggles();
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});
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QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
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update();
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});
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}
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std::set<QString> rebootKeys = {"CrosstrekTorque", "GasRegenCmd"};
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for (const QString &key : rebootKeys) {
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QObject::connect(toggles[key.toStdString().c_str()], &ToggleControl::toggleFlipped, [this]() {
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if (started) {
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if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) {
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Hardware::soft_reboot();
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}
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}
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});
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}
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QObject::connect(uiState(), &UIState::offroadTransition, [this](bool offroad) {
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std::thread([this]() {
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while (carMake.isEmpty()) {
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std::this_thread::sleep_for(std::chrono::seconds(1));
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carMake = QString::fromStdString(params.get("CarMake"));
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}
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setModels();
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updateCarToggles();
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}).detach();
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});
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QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVehiclesPanel::updateState);
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carMake = QString::fromStdString(params.get("CarMake"));
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if (!carMake.isEmpty()) {
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setModels();
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}
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}
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void FrogPilotVehiclesPanel::updateState(const UIState &s) {
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if (!isVisible()) return;
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started = s.scene.started;
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}
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void FrogPilotVehiclesPanel::updateToggles() {
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std::thread([this]() {
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paramsMemory.putBool("FrogPilotTogglesUpdated", true);
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std::this_thread::sleep_for(std::chrono::seconds(1));
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paramsMemory.putBool("FrogPilotTogglesUpdated", false);
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}).detach();
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}
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void FrogPilotVehiclesPanel::updateCarToggles() {
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std::set<std::string> evCars = {
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"CHEVROLET BOLT EUV 2022",
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"CHEVROLET BOLT EV NO ACC",
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"CHEVROLET VOLT NO ACC",
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"CHEVROLET VOLT PREMIER 2017",
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};
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auto carParams = params.get("CarParamsPersistent");
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if (!carParams.empty()) {
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AlignedBuffer aligned_buf;
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capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size()));
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cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
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auto carFingerprint = CP.getCarFingerprint();
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hasExperimentalOpenpilotLongitudinal = CP.getExperimentalLongitudinalAvailable();
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hasOpenpilotLongitudinal = CP.getOpenpilotLongitudinalControl();
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hasSNG = CP.getMinEnableSpeed() <= 0;
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isEVCar = evCars.count(carFingerprint) > 0;
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isGMTruck = carFingerprint == "CHEVROLET SILVERADO 1500 2020";
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isImpreza = carFingerprint == "SUBARU IMPREZA LIMITED 2019";
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} else {
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hasExperimentalOpenpilotLongitudinal = false;
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hasOpenpilotLongitudinal = true;
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hasSNG = false;
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isEVCar = true;
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isGMTruck = true;
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isImpreza = true;
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}
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hideToggles();
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}
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void FrogPilotVehiclesPanel::setModels() {
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models = getCarNames(carMake.toLower());
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hideToggles();
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}
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void FrogPilotVehiclesPanel::hideToggles() {
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disableOpenpilotLong->setVisible(hasOpenpilotLongitudinal && !hasExperimentalOpenpilotLongitudinal && !params.getBool("HideDisableOpenpilotLongitudinal"));
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selectMakeButton->setValue(carMake);
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selectModelButton->setVisible(!carMake.isEmpty());
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bool gm = carMake == "Buick" || carMake == "Cadillac" || carMake == "Chevrolet" || carMake == "GM" || carMake == "GMC";
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bool subaru = carMake == "Subaru";
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bool toyota = carMake == "Lexus" || carMake == "Toyota";
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std::set<QString> evCarKeys = {"EVTable"};
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std::set<QString> gmTruckKeys = {"GasRegenCmd"};
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std::set<QString> imprezaKeys = {"CrosstrekTorque"};
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std::set<QString> longitudinalKeys = {"EVTable", "GasRegenCmd", "LongitudinalTune", "LongPitch", "SNGHack"};
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std::set<QString> sngKeys = {"SNGHack"};
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for (auto &[key, toggle] : toggles) {
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if (toggle) {
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toggle->setVisible(false);
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if ((!hasOpenpilotLongitudinal || params.getBool("DisableOpenpilotLongitudinal")) && longitudinalKeys.find(key.c_str()) != longitudinalKeys.end()) {
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continue;
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}
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if (hasSNG && sngKeys.find(key.c_str()) != sngKeys.end()) {
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continue;
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}
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if (!isEVCar && evCarKeys.find(key.c_str()) != evCarKeys.end()) {
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continue;
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}
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if (!isGMTruck && gmTruckKeys.find(key.c_str()) != gmTruckKeys.end()) {
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continue;
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}
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if (!isImpreza && imprezaKeys.find(key.c_str()) != imprezaKeys.end()) {
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continue;
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}
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if (gm) {
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toggle->setVisible(gmKeys.find(key.c_str()) != gmKeys.end());
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} else if (subaru) {
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toggle->setVisible(subaruKeys.find(key.c_str()) != subaruKeys.end());
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} else if (toyota) {
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toggle->setVisible(toyotaKeys.find(key.c_str()) != toyotaKeys.end());
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}
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}
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}
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update();
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}
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