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FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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6
common/params.cc
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@@ -255,7 +255,10 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DeviceShutdown", PERSISTENT},
{"DisableOnroadUploads", PERSISTENT},
{"DriverCamera", PERSISTENT},
{"ExperimentalModeViaPress", PERSISTENT},
{"DriveStats", PERSISTENT},
{"ExperimentalModeActivation", PERSISTENT},
{"ExperimentalModeViaLKAS", PERSISTENT},
{"ExperimentalModeViaScreen", PERSISTENT},
{"EVTable", PERSISTENT},
{"Fahrenheit", PERSISTENT},
{"FireTheBabysitter", PERSISTENT},
@@ -360,6 +363,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"UpdateSchedule", PERSISTENT},
{"UpdateTime", PERSISTENT},
{"UseSI", PERSISTENT},
{"UseVienna", PERSISTENT},
{"VisionTurnControl", PERSISTENT},
{"WheelIcon", PERSISTENT},
{"WideCamera", PERSISTENT},

11
common/params.h
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@@ -47,6 +47,10 @@ public:
std::string value = get(key, block);
return value.empty() ? 0 : std::stoi(value);
}
inline float getFloat(const std::string &key, bool block = false) {
std::string value = get(key, block);
return value.empty() ? 0.0 : std::stof(value);
}
std::map<std::string, std::string> readAll();
// helpers for writing values
@@ -60,6 +64,9 @@ public:
inline int putInt(const std::string &key, int val) {
return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
}
inline int putFloat(const std::string &key, float val) {
return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
}
void putNonBlocking(const std::string &key, const std::string &val);
inline void putBoolNonBlocking(const std::string &key, bool val) {
putNonBlocking(key, val ? "1" : "0");
@@ -68,6 +75,10 @@ public:
inline void putIntNonBlocking(const std::string &key, int val) {
putNonBlocking(key, std::to_string(val));
}
void putFloatNonBlocking(const std::string &key, const std::string &val);
inline void putFloatNonBlocking(const std::string &key, float val) {
putNonBlocking(key, std::to_string(val));
}
private:
void asyncWriteThread();

20
common/params_pyx.pyx
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@@ -18,13 +18,16 @@ cdef extern from "common/params.h":
string get(string, bool) nogil
bool getBool(string, bool) nogil
int getInt(string, bool) nogil
float getFloat(string, bool) nogil
int remove(string) nogil
int put(string, string) nogil
void putNonBlocking(string, string) nogil
void putBoolNonBlocking(string, bool) nogil
void putIntNonBlocking(string, int) nogil
void putFloatNonBlocking(string, float) nogil
int putBool(string, bool) nogil
int putInt(string, int) nogil
int putFloat(string, float) nogil
bool checkKey(string) nogil
string getParamPath(string) nogil
void clearAll(ParamKeyType)
@@ -87,6 +90,13 @@ cdef class Params:
r = self.p.getInt(k, block)
return r
def get_float(self, key, bool block=False):
cdef string k = self.check_key(key)
cdef float r
with nogil:
r = self.p.getFloat(k, block)
return r
def put(self, key, dat):
"""
Warning: This function blocks until the param is written to disk!
@@ -109,6 +119,11 @@ cdef class Params:
with nogil:
self.p.putInt(k, val)
def put_float(self, key, float val):
cdef string k = self.check_key(key)
with nogil:
self.p.putFloat(k, val)
def put_nonblocking(self, key, dat):
cdef string k = self.check_key(key)
cdef string dat_bytes = ensure_bytes(dat)
@@ -125,6 +140,11 @@ cdef class Params:
with nogil:
self.p.putIntNonBlocking(k, val)
def put_float_nonblocking(self, key, float val):
cdef string k = self.check_key(key)
with nogil:
self.p.putFloatNonBlocking(k, val)
def remove(self, key):
cdef string k = self.check_key(key)
with nogil:

2
panda/board/safety/safety_gm.h
View File

@@ -226,7 +226,7 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
// GAS/REGEN: safety check
if (addr == 0x2CB) {
bool apply = GET_BIT(to_send, 0U) != 0U;
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
bool violation = false;
// Allow apply bit in pre-enabled and overriding states

46
panda/board/safety/safety_toyota.h
View File

@@ -43,18 +43,28 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = {
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
// Stock longitudinal
#define TOYOTA_COMMON_TX_MSGS \
{0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + PCM cancel cmds */ \
#define TOYOTA_COMMON_LONG_TX_MSGS \
TOYOTA_COMMON_TX_MSGS \
{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, /* DSU bus 0 */ \
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \
{0x2E4, 0, 5}, {0x191, 0, 8}, {0x411, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + ACC */ \
{0x1D3, 0, 8}, {0x750, 0, 8}, \
{0x411, 0, 8}, /* PCS_HUD */ \
{0x750, 0, 8}, /* radar diagnostic address */ \
const CanMsg TOYOTA_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
};
const CanMsg TOYOTA_LONG_TX_MSGS[] = {
TOYOTA_COMMON_LONG_TX_MSGS
};
const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
TOYOTA_COMMON_TX_MSGS
TOYOTA_COMMON_LONG_TX_MSGS
{0x200, 0, 6}, // gas interceptor
};
@@ -214,7 +224,11 @@ static void toyota_rx_hook(CANPacket_t *to_push) {
gas_interceptor_prev = gas_interceptor;
}
generic_rx_checks((addr == 0x2E4));
bool stock_ecu_detected = addr == 0x2E4; // STEERING_LKA
if (!toyota_stock_longitudinal) {
stock_ecu_detected = stock_ecu_detected || (addr == 0x343); // ACC_CONTROL
}
generic_rx_checks(stock_ecu_detected);
}
}
@@ -332,6 +346,15 @@ static bool toyota_tx_hook(CANPacket_t *to_send) {
}
}
// UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
if (addr == 0x750) {
// this address is sub-addressed. only allow tester present to radar (0xF)
bool invalid_uds_msg = (GET_BYTES(to_send, 0, 4) != 0x003E020FU) || (GET_BYTES(to_send, 4, 4) != 0x0U);
if (invalid_uds_msg) {
tx = 0;
}
}
return tx;
}
@@ -348,12 +371,19 @@ static safety_config toyota_init(uint16_t param) {
}
safety_config ret;
if (toyota_lta) {
ret = enable_gas_interceptor ? BUILD_SAFETY_CFG(toyota_lta_interceptor_rx_checks, TOYOTA_INTERCEPTOR_TX_MSGS) : \
BUILD_SAFETY_CFG(toyota_lta_rx_checks, TOYOTA_TX_MSGS);
if (toyota_stock_longitudinal) {
SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
} else {
ret = enable_gas_interceptor ? BUILD_SAFETY_CFG(toyota_lka_interceptor_rx_checks, TOYOTA_INTERCEPTOR_TX_MSGS) : \
BUILD_SAFETY_CFG(toyota_lka_rx_checks, TOYOTA_TX_MSGS);
enable_gas_interceptor ? SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS, ret) : \
SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
}
if (enable_gas_interceptor) {
toyota_lta ? SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret) : \
SET_RX_CHECKS(toyota_lka_interceptor_rx_checks, ret);
} else {
toyota_lta ? SET_RX_CHECKS(toyota_lta_rx_checks, ret) : \
SET_RX_CHECKS(toyota_lka_rx_checks, ret);
}
return ret;
}

24
selfdrive/car/car_helpers.py
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@@ -213,19 +213,21 @@ def crash_log(candidate):
control_keys, vehicle_keys, visual_keys = [
"AdjustablePersonalities", "AlwaysOnLateral", "AlwaysOnLateralMain", "ConditionalExperimental", "CESpeed", "CESpeedLead", "CECurves",
"CECurvesLead", "CENavigation", "CESignal", "CESlowerLead", "CEStopLights", "CEStopLightsLead", "CustomPersonalities", "AggressiveFollow",
"AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown", "ExperimentalModeViaPress",
"FireTheBabysitter", "NoLogging", "MuteDM", "MuteDoor", "MuteSeatbelt", "MuteOverheated", "LateralTune", "AverageCurvature", "NNFF",
"LongitudinalTune", "AccelerationProfile", "StoppingDistance", "AggressiveAcceleration", "SmoothBraking", "Model", "MTSCEnabled",
"NudgelessLaneChange", "LaneChangeTime", "LaneDetection", "OneLaneChange", "QOLControls", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise",
"SetSpeedOffset", "SpeedLimitController", "SLCFallback","SLCOverride", "SLCPriority", "Offset1", "Offset2", "Offset3", "Offset4", "TurnDesires",
"AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown", "ExperimentalModeActivation",
"ExperimentalModeViaLKAS", "ExperimentalModeViaScreen", "FireTheBabysitter", "NoLogging", "MuteDM", "MuteDoor", "MuteSeatbelt",
"MuteOverheated", "LateralTune", "AverageCurvature", "NNFF", "LongitudinalTune", "AccelerationProfile", "StoppingDistance",
"AggressiveAcceleration", "SmoothBraking", "Model", "MTSCEnabled", "MTSCAggressiveness", "NudgelessLaneChange", "LaneChangeTime",
"LaneDetection", "OneLaneChange", "QOLControls", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset",
"SpeedLimitController", "SLCFallback","SLCOverride", "SLCPriority", "Offset1", "Offset2", "Offset3", "Offset4", "TurnDesires",
"VisionTurnControl", "CurveSensitivity", "TurnAggressiveness", "DisableOnroadUploads", "OfflineMode"
], [
"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "LockDoors", "SNGHack", "TSS2Tune"
], [
"CustomTheme", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "GoatScream", "CameraView", "Compass", "CustomUI", "LaneLinesWidth",
"RoadEdgesWidth", "PathWidth", "PathEdgeWidth", "AccelerationPath", "AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UnlimitedLength",
"DriverCamera", "GreenLightAlert", "ModelUI", "QOLVisuals", "FullMap", "HideSpeed", "RandomEvents", "RotatingWheel", "ScreenBrightness", "Sidebar", "SilentMode",
"WheelIcon", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowMemoryUsage", "ShowSLCOffset", "ShowStorageLeft", "ShowStorageUsed", "UseSI"
"CustomTheme", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "GoatScream", "CameraView", "Compass", "CustomUI", "AdjacentPath",
"BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna", "ModelUI", "AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth",
"RoadEdgesWidth", "UnlimitedLength", "DriverCamera", "GreenLightAlert", "QOLVisuals", "UseSI", "DriveStats", "HideSpeed", "RandomEvents",
"RotatingWheel", "ScreenBrightness", "Sidebar", "SilentMode", "WheelIcon", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowMemoryUsage",
"ShowSLCOffset", "ShowStorageLeft", "ShowStorageUsed", "UseSI"
]
control_params, vehicle_params, visual_params = map(lambda keys: get_frogpilot_params(params, keys), [control_keys, vehicle_keys, visual_keys])
@@ -258,8 +260,8 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
if get_branch() == "origin/FrogPilot-Development" and dongle_id[:3] != "be6":
candidate = "mock"
x = threading.Thread(target=crash_log, args=(candidate,))
x.start()
setFingerprintLog = threading.Thread(target=crash_log, args=(candidate,))
setFingerprintLog.start()
CarInterface, CarController, CarState = interfaces[candidate]
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)

14
selfdrive/car/gm/carstate.py
View File

@@ -44,6 +44,10 @@ class CarState(CarStateBase):
self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0) and not moving_forward
if self.CP.enableBsm:
if self.CP.carFingerprint in SDGM_CAR:
ret.leftBlindspot = cam_cp.vl["BCMBSM"]["Left_BSM"] == 1
ret.rightBlindspot = cam_cp.vl["BCMBSM"]["Right_BSM"] == 1
else:
ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1
@@ -195,7 +199,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
if self.experimental_mode_via_lkas and ret.cruiseState.available:
if self.CP.carFingerprint in SDGM_CAR:
lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
else:
@@ -228,6 +232,8 @@ class CarState(CarStateBase):
("BCMGeneralPlatformStatus", 10),
("ASCMSteeringButton", 33),
]
if CP.enableBsm:
messages.append(("BCMBSM", 10))
else:
messages += [
("AEBCmd", 10),
@@ -251,10 +257,6 @@ class CarState(CarStateBase):
("ECMAcceleratorPos", 80),
]
# BSM does not send a signal until the first instance of it lighting up
messages.append(("left_blindspot", 0))
messages.append(("right_blindspot", 0))
if CP.carFingerprint in SDGM_CAR:
messages += [
("ECMPRDNL2", 40),
@@ -271,6 +273,8 @@ class CarState(CarStateBase):
("BCMGeneralPlatformStatus", 10),
("ASCMSteeringButton", 33),
]
if CP.enableBsm:
messages.append(("BCMBSM", 10))
# Used to read back last counter sent to PT by camera
if CP.networkLocation == NetworkLocation.fwdCamera:

1
selfdrive/car/gm/gmcan.py
View File

@@ -65,7 +65,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
"GasRegenFullStopActive": at_full_stop,
"GasRegenAlwaysOne": 1,
"GasRegenAlwaysOne2": 1,
"GasRegenAlwaysOne3": 1,
}
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]

2
selfdrive/car/gm/interface.py
View File

@@ -81,7 +81,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
# FrogPilot variables
params = params()
params = Params()
useGasRegenCmd = params.get_bool("GasRegenCmd")
ret.carName = "gm"

2
selfdrive/car/honda/carcontroller.py
View File

@@ -253,7 +253,7 @@ class CarController:
if self.frame % 10 == 0:
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, CS.personality_profile + 1,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed

2
selfdrive/car/honda/carstate.py
View File

@@ -288,7 +288,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
if self.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = self.cruise_setting == 1
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:

4
selfdrive/car/honda/hondacan.py
View File

@@ -122,7 +122,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
commands = []
bus_pt = get_pt_bus(CP.carFingerprint)
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
@@ -155,7 +155,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
lkas_hud_values = {
'SET_ME_X41': 0x41,
'STEERING_REQUIRED': hud.steer_required,
'SOLID_LANES': hud.lanes_visible,
'SOLID_LANES': lat_active,
'BEEP': 0,
}

4
selfdrive/car/hyundai/carstate.py
View File

@@ -184,7 +184,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
if self.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:
@@ -300,7 +300,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
if self.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:

2
selfdrive/car/interfaces.py
View File

@@ -596,7 +596,7 @@ class CarStateBase(ABC):
def update_frogpilot_params(self, params):
self.conditional_experimental_mode = params.get_bool("ConditionalExperimental")
self.experimental_mode_via_press = params.get_bool("ExperimentalModeViaPress")
self.experimental_mode_via_lkas = params.get_bool("ExperimentalModeViaLKAS") and params.get_bool("ExperimentalModeActivation");
self.personalities_via_wheel = params.get_int("AdjustablePersonalities") in {1, 3}
INTERFACE_ATTR_FILE = {

2
selfdrive/car/toyota/carstate.py
View File

@@ -208,7 +208,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
if self.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
lkas_pressed = any(self.lkas_hud.get(key) == 1 for key in message_keys)
if lkas_pressed and not self.lkas_previously_pressed:

4
selfdrive/car/toyota/interface.py
View File

@@ -236,11 +236,11 @@ class CarInterface(CarInterfaceBase):
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
ret.experimentalLongitudinalAvailable = use_sdsu
ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
if not use_sdsu:
# Disabling radar is only supported on TSS2 radar-ACC cars
if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet
if experimental_long and candidate in RADAR_ACC_CAR:
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
else:
use_sdsu = use_sdsu and experimental_long

5
selfdrive/controls/controlsd.py
View File

@@ -988,7 +988,8 @@ class Controls:
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
updateFrogPilotParams.start()
except SystemExit:
e.set()
@@ -1010,7 +1011,7 @@ class Controls:
self.green_light_alert = self.params.get_bool("GreenLightAlert")
lateral_tune = self.params.get_bool("LateralTune")
self.steer_ratio = self.params.get_int("SteerRatio") / 100 if lateral_tune else self.params.get_int("SteerRatioStock") / 100
self.steer_ratio = self.params.get_float("SteerRatio") if lateral_tune else self.params.get_float("SteerRatioStock")
longitudinal_tune = self.params.get_bool("LongitudinalTune")
self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune

19
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
View File

@@ -56,7 +56,7 @@ T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5
STOP_DISTANCE = 6.0
def get_jerk_factor(custom_personalities, aggressive_jerk, standard_jerk, relaxed_jerk, personality=log.LongitudinalPersonality.standard):
def get_jerk_factor(custom_personalities=False, aggressive_jerk=0.5, standard_jerk=1.0, relaxed_jerk=1.0, personality=log.LongitudinalPersonality.standard):
if custom_personalities:
if personality==log.LongitudinalPersonality.relaxed:
return relaxed_jerk
@@ -241,6 +241,13 @@ def gen_long_ocp():
class LongitudinalMpc:
def __init__(self, mode='acc'):
# FrogPilot variables
self.safe_obstacle_distance = 0
self.safe_obstacle_distance_stock = 0
self.stopped_equivalence_factor = 0
self.t_follow = 0
self.t_follow_offset = 1
self.mode = mode
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.reset()
@@ -292,8 +299,9 @@ class LongitudinalMpc:
for i in range(N):
self.solver.cost_set(i, 'Zl', Zl)
def set_weights(self, custom_personalities, aggressive_jerk, standard_jerk, relaxed_jerk, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
def set_weights(self, prev_accel_constraint=True, custom_personalities=False, aggressive_jerk=0.5, standard_jerk=1.0, relaxed_jerk=1.0, personality=log.LongitudinalPersonality.standard):
jerk_factor = get_jerk_factor(custom_personalities, aggressive_jerk, standard_jerk, relaxed_jerk, personality)
jerk_factor /= np.mean(self.t_follow_offset)
if self.mode == 'acc':
a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
@@ -351,7 +359,7 @@ class LongitudinalMpc:
self.cruise_min_a = min_a
self.max_a = max_a
def update(self, radarstate, v_cruise, x, v, a, j, aggressive_acceleration, smoother_braking, custom_personalities, aggressive_follow, standard_follow, relaxed_follow, increased_stopping_distance, personality=log.LongitudinalPersonality.standard):
def update(self, radarstate, v_cruise, x, v, a, j, aggressive_acceleration, increased_stopping_distance, smoother_braking, custom_personalities, aggressive_follow, standard_follow, relaxed_follow, personality=log.LongitudinalPersonality.standard):
t_follow = get_T_FOLLOW(custom_personalities, aggressive_follow, standard_follow, relaxed_follow, personality)
self.t_follow = t_follow
v_ego = self.x0[1]
@@ -363,8 +371,9 @@ class LongitudinalMpc:
# Offset by FrogAi for FrogPilot for a more natural takeoff with a lead
if aggressive_acceleration:
distance_factor = np.maximum(1, lead_xv_0[:,0] - (lead_xv_0[:,1] * t_follow))
t_follow_offset = np.clip((lead_xv_0[:,1] - v_ego) + (STOP_DISTANCE + increased_stopping_distance - v_ego), 1, distance_factor)
t_follow = t_follow / t_follow_offset
standstill_offset = max(STOP_DISTANCE + increased_stopping_distance - (v_ego**COMFORT_BRAKE), 0)
self.t_follow_offset = np.clip((lead_xv_0[:,1] - v_ego) + standstill_offset, 1, distance_factor)
t_follow = t_follow / self.t_follow_offset
# Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
if smoother_braking:

2
selfdrive/controls/lib/longitudinal_planner.py
View File

@@ -135,7 +135,7 @@ class LongitudinalPlanner:
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
self.mpc.set_weights(frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_jerk, frogpilot_planner.standard_jerk, frogpilot_planner.relaxed_jerk, prev_accel_constraint, personality=self.personality)
self.mpc.set_weights(prev_accel_constraint, frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_jerk, frogpilot_planner.standard_jerk, frogpilot_planner.relaxed_jerk, personality=self.personality)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)

6
selfdrive/controls/plannerd.py
View File

@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import os
import numpy as np
import threading
from cereal import car
from openpilot.common.params import Params
from openpilot.common.realtime import Priority, config_realtime_process
@@ -41,7 +42,7 @@ def plannerd_thread():
debug_mode = bool(int(os.getenv("DEBUG", "0")))
frogpilot_planner = FrogPilotPlanner(params)
frogpilot_planner = FrogPilotPlanner(params, params_memory)
longitudinal_planner = LongitudinalPlanner(CP)
lateral_planner = LateralPlanner(CP, debug=debug_mode)
@@ -60,7 +61,8 @@ def plannerd_thread():
publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
if params_memory.get_bool("FrogPilotTogglesUpdated"):
frogpilot_planner.update_frogpilot_params(params)
updateFrogPilotToggles = threading.Thread(target=frogpilot_planner.update_frogpilot_params, args=(params, params_memory))
updateFrogPilotToggles.start()
def main():
plannerd_thread()

2
selfdrive/frogpilot/functions/conditional_experimental_mode.py
View File

@@ -200,7 +200,7 @@ class ConditionalExperimentalMode:
def update_frogpilot_params(self, is_metric, params):
self.curves = params.get_bool("CECurves")
self.curves_lead = params.get_bool("CECurvesLead")
self.experimental_mode_via_press = params.get_bool("ExperimentalModeViaPress")
self.experimental_mode_via_press = params.get_bool("ExperimentalModeActivation")
self.limit = params.get_int("CESpeed") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
self.limit_lead = params.get_int("CESpeedLead") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
self.navigation = params.get_bool("CENavigation")

6
selfdrive/frogpilot/functions/frogpilot_planner.py
View File

@@ -55,7 +55,7 @@ def calculate_lane_width(lane, current_lane, road_edge):
class FrogPilotPlanner:
def __init__(self, params):
def __init__(self, params, params_memory):
self.cem = ConditionalExperimentalMode()
self.mtsc = MapTurnSpeedController()
@@ -69,7 +69,7 @@ class FrogPilotPlanner:
self.x_desired_trajectory = np.zeros(CONTROL_N)
self.update_frogpilot_params(params)
self.update_frogpilot_params(params, params_memory)
def update(self, sm, mpc):
carState, controlsState, modelData = sm['carState'], sm['controlsState'], sm['modelV2']
@@ -203,7 +203,7 @@ class FrogPilotPlanner:
pm.send('frogpilotLongitudinalPlan', frogpilot_longitudinal_plan_send)
def update_frogpilot_params(self, params):
def update_frogpilot_params(self, params, params_memory):
self.is_metric = params.get_bool("IsMetric")
self.blindspot_path = params.get_bool("CustomUI") and params.get_bool("BlindSpotPath")

34
selfdrive/frogpilot/ui/control_settings.cc
View File

@@ -15,7 +15,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"CustomPersonalities", "Custom Driving Personalities", "Customize the driving personality profiles to your driving style.", "../frogpilot/assets/toggle_icons/icon_custom.png"},
{"DeviceShutdown", "Device Shutdown Timer", "Configure the timer for automatic device shutdown when offroad conserving energy and preventing battery drain.", "../frogpilot/assets/toggle_icons/icon_time.png"},
{"ExperimentalModeViaPress", "Experimental Mode Via 'LKAS' Button / Screen", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
{"ExperimentalModeActivation", "Experimental Mode Via", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
{"FireTheBabysitter", "Fire the Babysitter", "Deactivate some of openpilot's 'Babysitter' protocols for more user autonomy.", "../frogpilot/assets/toggle_icons/icon_babysitter.png"},
{"NoLogging", "Disable All Logging", "Turn off all data tracking to enhance privacy or reduce thermal load.\n\nWARNING: This action will prevent drive recording and data cannot be recovered!", ""},
@@ -23,11 +23,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"MuteDM", "Mute Driver Monitoring", "Disable driver monitoring.", ""},
{"MuteOverheated", "Mute Overheated System Alert", "Disable alerts for the device being overheated.", ""},
{"MuteSeatbelt", "Mute Seatbelt Unlatched Alert", "Disable alerts for unlatched seatbelts.", ""},
{"OfflineMode", "Offline Mode", "Allow the device to be offline indefinitely.", ""},
{"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
{"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""},
{"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
{"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
{"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
{"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
{"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
@@ -36,6 +37,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"SmoothBraking", "Smoother Braking Behind Lead", "Smoothen out the braking behavior when approaching slower vehicles.", ""},
{"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},
{"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
{"NudgelessLaneChange", "Nudgeless Lane Change", "Enable lane changes without manual steering input.", "../frogpilot/assets/toggle_icons/icon_lane.png"},
@@ -44,6 +46,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"OneLaneChange", "One Lane Change Per Signal", "Limit to one nudgeless lane change per turn signal activation.", ""},
{"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
{"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
{"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
{"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
{"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
@@ -72,7 +75,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 3, {{0, "None"}, {1, "Steering Wheel"}, {2, "Onroad UI Button"}, {3, "Wheel + Button"}}, this, true);
} else if (param == "AlwaysOnLateral") {
std::vector<QString> aolToggles{tr("AlwaysOnLateralMain")};
std::vector<QString> aolToggles{"AlwaysOnLateralMain"};
std::vector<QString> aolToggleNames{tr("Enable On Cruise Main")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, aolToggles, aolToggleNames);
@@ -112,11 +115,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
conditionalSpeedsMetric = new FrogPilotDualParamControl(CESpeedMetric, CESpeedLeadMetric, this);
addItem(conditionalSpeedsMetric);
std::vector<QString> curveToggles{tr("CECurvesLead")};
std::vector<QString> curveToggles{"CECurvesLead"};
std::vector<QString> curveToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, curveToggles, curveToggleNames);
} else if (param == "CEStopLights") {
std::vector<QString> stopLightToggles{tr("CEStopLightsLead")};
std::vector<QString> stopLightToggles{"CEStopLightsLead"};
std::vector<QString> stopLightToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
@@ -167,6 +170,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false);
} else if (param == "ExperimentalModeActivation") {
std::vector<QString> experimentalModeToggles{"ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
std::vector<QString> experimentalModeNames{tr("LKAS Button"), tr("Screen")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, experimentalModeToggles, experimentalModeNames);
} else if (param == "FireTheBabysitter") {
FrogPilotParamManageControl *fireTheBabysitterToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(fireTheBabysitterToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -187,7 +195,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
});
toggle = lateralTuneToggle;
} else if (param == "SteerRatio") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 100);
toggle = new FrogPilotParamValueControlFloat(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 10.0);
} else if (param == "LongitudinalTune") {
FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -395,11 +403,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt"};
fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt", "OfflineMode"};
laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange"};
lateralTuneKeys = {"AverageCurvature", "NNFF", "SteerRatio"};
longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
qolKeys = {"HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
mtscKeys = {"MTSCAggressiveness"};
qolKeys = {"DisableOnroadUploads", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
visionTurnControlKeys = {"CurveSensitivity", "TurnAggressiveness"};
@@ -418,10 +427,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
}
void FrogPilotControlsPanel::updateCarToggles() {
FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
steerRatioStock = params.getInt("SteerRatioStock");
steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : QString("Steer Ratio"));
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 100);
FrogPilotParamValueControlFloat *steerRatioToggle = static_cast<FrogPilotParamValueControlFloat*>(toggles["SteerRatio"]);
steerRatioStock = params.getFloat("SteerRatioStock");
steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : QString("Steer Ratio"));
steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 10.0);
steerRatioToggle->refresh();
}
@@ -535,6 +544,7 @@ void FrogPilotControlsPanel::hideSubToggles() {
laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() ||
mtscKeys.find(key.c_str()) != mtscKeys.end() ||
qolKeys.find(key.c_str()) != qolKeys.end() ||
speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() ||
visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end();

3
selfdrive/frogpilot/ui/control_settings.h
View File

@@ -38,6 +38,7 @@ private:
std::set<QString> laneChangeKeys;
std::set<QString> lateralTuneKeys;
std::set<QString> longitudinalTuneKeys;
std::set<QString> mtscKeys;
std::set<QString> qolKeys;
std::set<QString> speedLimitControllerKeys;
std::set<QString> visionTurnControlKeys;
@@ -48,5 +49,5 @@ private:
Params paramsMemory{"/dev/shm/params"};
bool isMetric = params.getBool("IsMetric");
int steerRatioStock = params.getInt("SteerRatioStock");
float steerRatioStock = params.getFloat("SteerRatioStock");
};

6
selfdrive/frogpilot/ui/frogpilot_functions.cc
View File

@@ -79,8 +79,11 @@ void setDefaultParams() {
{"CustomUI", "1"},
{"DeviceShutdown", "9"},
{"DriverCamera", "0"},
{"DriveStats", "1"},
{"EVTable", FrogsGoMoo ? "0" : "1"},
{"ExperimentalModeViaPress", "1"},
{"ExperimentalModeActivation", "1"},
{"ExperimentalModeViaLKAS", "1"},
{"ExperimentalModeViaScreen", FrogsGoMoo ? "0" : "1"},
{"Fahrenheit", "0"},
{"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
{"FullMap", "0"},
@@ -149,6 +152,7 @@ void setDefaultParams() {
{"TurnDesires", "1"},
{"UnlimitedLength", "1"},
{"UseSI", FrogsGoMoo ? "1" : "0"},
{"UseVienna", "0"},
{"VisionTurnControl", "1"},
{"WheelIcon", FrogsGoMoo ? "1" : "0"}
};

114
selfdrive/frogpilot/ui/frogpilot_functions.h
View File

@@ -363,6 +363,120 @@ private:
}
};
class FrogPilotParamValueControlFloat : public ParamControl {
Q_OBJECT
public:
FrogPilotParamValueControlFloat(const QString &param, const QString &title, const QString &desc, const QString &icon,
const float &minValue, const float &maxValue, const std::map<int, QString> &valueLabels,
QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const float &division = 1.0f)
: ParamControl(param, title, desc, icon, parent),
minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
key = param.toStdString();
valueLabel = new QLabel(this);
hlayout->addWidget(valueLabel);
QPushButton *decrementButton = createButton("-", this);
QPushButton *incrementButton = createButton("+", this);
hlayout->addWidget(decrementButton);
hlayout->addWidget(incrementButton);
connect(decrementButton, &QPushButton::clicked, this, [=]() {
updateValue(-1.0f);
});
connect(incrementButton, &QPushButton::clicked, this, [=]() {
updateValue(1.0f);
});
toggle.hide();
}
void updateValue(float increment) {
value += increment * 0.1f;
if (loop) {
if (value < minValue) value = maxValue;
else if (value > maxValue) value = minValue;
} else {
value = std::max(minValue, std::min(maxValue, value));
}
params.putFloat(key, value);
refresh();
emit buttonPressed();
emit valueChanged(value);
}
void refresh() {
value = params.getFloat(key);
QString text;
auto it = valueLabelMappings.find(value);
if (division > 0.1f) {
text = QString::number(value, 'f', 1);
} else {
text = it != valueLabelMappings.end() ? it->second : QString::number(value, 'f', 1);
}
if (!labelText.isEmpty()) {
text += labelText;
}
valueLabel->setText(text);
valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
}
void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) {
minValue = newMinValue;
maxValue = newMaxValue;
labelText = newLabel;
division = newDivision;
}
void showEvent(QShowEvent *event) override {
refresh();
}
signals:
void buttonPressed();
void valueChanged(float value);
private:
bool loop;
float division;
float maxValue;
float minValue;
float value;
QLabel *valueLabel;
QString labelText;
std::map<int, QString> valueLabelMappings;
std::string key;
Params params;
QPushButton *createButton(const QString &text, QWidget *parent) {
QPushButton *button = new QPushButton(text, parent);
button->setFixedSize(150, 100);
button->setAutoRepeat(true);
button->setAutoRepeatInterval(150);
button->setStyleSheet(R"(
QPushButton {
border-radius: 50px;
font-size: 50px;
font-weight: 500;
height: 100px;
padding: 0 25 0 25;
color: #E4E4E4;
background-color: #393939;
}
QPushButton:pressed {
background-color: #4a4a4a;
}
)");
return button;
}
};
class FrogPilotDualParamControl : public QFrame {
Q_OBJECT

6
selfdrive/frogpilot/ui/vehicle_settings.cc
View File

@@ -121,10 +121,10 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
});
}
gmKeys = {"EVTable", "GasRegenCmd", "LongPitch"};
toyotaKeys = {};
gmKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt"};
toyotaKeys = {"LockDoors", "SNGHack", "TSS2Tune"};
std::set<std::string> rebootKeys = {"LowerVolt", "TSS2Tune"};
std::set<std::string> rebootKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "TSS2Tune"};
for (const std::string &key : rebootKeys) {
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {

12
selfdrive/frogpilot/ui/visual_settings.cc
View File

@@ -18,6 +18,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
{"ShowFPS", "FPS Counter", "Display the Frames Per Second (FPS) of your onroad UI for monitoring system performance.", ""},
{"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
{"RoadNameUI", "Road Name", "See the name of the road you're on at the bottom of your screen. Sourced from OpenStreetMap.", ""},
{"UseVienna", "Use Vienna Speed Limit Signs", "Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US).", ""},
{"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},
{"GreenLightAlert", "Green Light Alert", "Get an alert when a traffic light changes from red to green.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
@@ -152,7 +153,16 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
});
}
customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI"};
std::set<std::string> rebootKeys = {"DriveStats"};
for (const std::string &key : rebootKeys) {
QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
Hardware::reboot();
}
});
}
customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna"};
customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
modelUIKeys = {"AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
qolKeys = {"DriveStats", "HideSpeed", "ShowSLCOffset"};

11
selfdrive/locationd/paramsd.py
View File

@@ -134,10 +134,13 @@ def main():
CP = msg
cloudlog.info("paramsd got CarParams")
steer_ratio_stock = params_reader.get_int("SteerRatioStock")
if steer_ratio_stock != CP.steerRatio * 100:
params_reader.put_int("SteerRatio", CP.steerRatio * 100)
params_reader.put_int("SteerRatioStock", CP.steerRatio * 100)
steer_ratio = params_reader.get_float("SteerRatio")
steer_ratio_stock = params_reader.get_float("SteerRatioStock")
if steer_ratio_stock != CP.steerRatio or steer_ratio >= steer_ratio_stock * 2:
params_reader.put_float("SteerRatio", CP.steerRatio)
params_reader.put_float("SteerRatioStock", CP.steerRatio)
params_reader.put_bool("DoReboot", True)
min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio

3
selfdrive/navd/navd.py
View File

@@ -77,7 +77,8 @@ class RouteEngine:
def update(self):
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
updateFrogPilotParams.start()
self.sm.update(0)

2
selfdrive/thermald/thermald.py
View File

@@ -309,7 +309,7 @@ def thermald_thread(end_event, hw_queue) -> None:
startup_conditions["time_valid"] = now > MIN_DATE
set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present)
startup_conditions["up_to_date"] = params.get("OfflineMode") or params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
startup_conditions["up_to_date"] = (params.get("OfflineMode") and params.get("FireTheBabysitter")) or params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version

2
selfdrive/ui/qt/home.cc
View File

@@ -160,7 +160,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
left_widget->addWidget(new DriveStats);
left_widget->setStyleSheet("border-radius: 10px;");
left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : true ? 2 : 1);
left_widget->setCurrentIndex(params.getBool("DriveStats") ? 2 : uiState()->hasPrime() ? 0 : 1);
connect(uiState(), &UIState::primeChanged, [=](bool prime) {
left_widget->setCurrentIndex(prime ? 0 : 1);
});

8
selfdrive/ui/qt/network/networking.cc
View File

@@ -205,14 +205,6 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
});
list->addItem(hiddenNetworkButton);
// Disable onroad uploads toggle
const bool disableOnroadUploads = params.getBool("DisableOnroadUploads");
disableOnroadUploadsToggle = new ToggleControl(tr("Disable Onroad Uploads"), tr("Prevent large data uploads when onroad."), "", disableOnroadUploads);
QObject::connect(disableOnroadUploadsToggle, &ToggleControl::toggleFlipped, [=](bool state) {
params.putBool("DisableOnroadUploads", state);
});
list->addItem(disableOnroadUploadsToggle);
// Set initial config
wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);

3
selfdrive/ui/qt/network/networking.h
View File

@@ -67,9 +67,6 @@ private:
WifiManager* wifi = nullptr;
Params params;
// FrogPilot variables
ToggleControl *disableOnroadUploadsToggle;
signals:
void backPress();
void requestWifiScreen();

49
selfdrive/ui/qt/onroad.cc
View File

@@ -136,29 +136,29 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
if (isMaxSpeedClicked || isSpeedClicked || isSpeedLimitClicked) {
// Check if the click was within the max speed area
if (isMaxSpeedClicked) {
reverseCruise = !params.getBool("ReverseCruise");
params.putBoolNonBlocking("ReverseCruise", reverseCruise);
bool currentReverseCruise = !params.getBool("ReverseCruise");
params.putBoolNonBlocking("ReverseCruise", currentReverseCruise);
if (!params.getBool("QOLControls")) {
params.putBoolNonBlocking("QOLControls", true);
}
paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
// Check if the click was within the speed text area
} else if (isSpeedClicked) {
hideSpeed = !params.getBool("HideSpeed");
params.putBoolNonBlocking("HideSpeed", hideSpeed);
bool currentHideSpeed = !params.getBool("HideSpeed");
params.putBoolNonBlocking("HideSpeed", currentHideSpeed);
if (!params.getBool("QOLVisuals")) {
params.putBoolNonBlocking("QOLVisuals", true);
}
} else {
showSLCOffset = !params.getBool("ShowSLCOffset");
params.putBoolNonBlocking("ShowSLCOffset", showSLCOffset);
bool currentShowSLCOffset = !params.getBool("ShowSLCOffset");
params.putBoolNonBlocking("ShowSLCOffset", currentShowSLCOffset);
if (!params.getBool("QOLVisuals")) {
params.putBoolNonBlocking("QOLVisuals", true);
}
}
widgetClicked = true;
paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
// If the click wasn't for anything specific, change the value of "ExperimentalMode"
} else if (scene.experimental_mode_via_press && e->pos() != timeoutPoint) {
} else if (scene.experimental_mode_via_screen && e->pos() != timeoutPoint) {
if (clickTimer.isActive()) {
clickTimer.stop();
if (scene.conditional_experimental) {
@@ -179,7 +179,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
// Switch between map and sidebar when using navigate on openpilot
bool sidebarVisible = geometry().x() > 0;
bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
if (!scene.experimental_mode_via_press || map->isVisible()) {
if (!scene.experimental_mode_via_screen || map->isVisible()) {
map->setVisible(show_map && !map->isVisible());
}
}
@@ -385,7 +385,7 @@ void ExperimentalButton::changeMode() {
Params paramsMemory = Params("/dev/shm/params");
const auto cp = (*uiState()->sm)["carParams"].getCarParams();
bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_press);
bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_screen);
if (can_change) {
if (scene.conditional_experimental) {
int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 4) ? 0 : scene.conditional_status >= 5 ? 3 : 4;
@@ -432,11 +432,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
QPixmap img = wheelIcon ? engage_img : (experimental_mode ? experimental_img : engage_img);
QColor background_color = wheelIcon && !isDown() && engageable ?
(scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
(scene.conditional_status == 1 ? QColor(255, 246, 0, 255) :
(experimental_mode ? QColor(218, 111, 37, 241) :
(scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166)))) :
(scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
QColor(0, 0, 0, 166));
(scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166))))) :
QColor(0, 0, 0, 166);
if (!scene.show_driver_camera) {
if (rotatingWheel || firefoxRandomEventTriggered) {
@@ -524,8 +524,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
speedLimit = speedLimit - (showSLCOffset ? slcSpeedLimitOffset : 0);
}
has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || slcSpeedLimit;
has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || (slcSpeedLimit && !useViennaSLCSign);
has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) || (slcSpeedLimit && useViennaSLCSign);
is_metric = s.scene.is_metric;
speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph");
hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight)) || showDriverCamera;
@@ -581,7 +581,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
if (is_cruise_set && cruiseAdjustment) {
float transition = qBound(0.0f, 4.0f * (cruiseAdjustment / setSpeed), 1.0f);
QColor min = whiteColor(75), max = redColor(75);
QColor min = whiteColor(75);
QColor max = redColor(75);
p.setPen(QPen(QColor::fromRgbF(
min.redF() + transition * (max.redF() - min.redF()),
@@ -1122,7 +1123,8 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
CameraWidget::showEvent(event);
ui_update_params(uiState());
std::thread updateFrogPilotParams(ui_update_params, uiState());
updateFrogPilotParams.detach();
prev_draw_t = millis_since_boot();
}
@@ -1146,15 +1148,6 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
main_layout->addLayout(bottom_layout);
if (params.getBool("QOLControls")) {
reverseCruise = params.getBool("ReverseCruise");
}
if (params.getBool("QOLVisuals")) {
hideSpeed = params.getBool("HideSpeed");
showSLCOffset = params.getBool("ShowSLCOffset");
}
// Custom themes configuration
themeConfiguration = {
{1, {QString("frog_theme"), {QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
@@ -1200,6 +1193,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
customColors = scene.custom_colors;
desiredFollow = scene.desired_follow;
experimentalMode = scene.experimental_mode;
hideSpeed = scene.hide_speed;
laneWidthLeft = scene.lane_width_left;
laneWidthRight = scene.lane_width_right;
leadInfo = scene.lead_info;
@@ -1208,8 +1202,10 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
obstacleDistance = scene.obstacle_distance;
obstacleDistanceStock = scene.obstacle_distance_stock;
onroadAdjustableProfiles = scene.personalities_via_screen;
reverseCruise = scene.reverse_cruise;
roadNameUI = scene.road_name_ui;
showDriverCamera = scene.show_driver_camera;
showSLCOffset = scene.show_slc_offset;
slcOverridden = scene.speed_limit_overridden;
slcOverriddenSpeed = scene.speed_limit_overridden_speed;
slcSpeedLimit = scene.speed_limit;
@@ -1218,6 +1214,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
turnSignalLeft = scene.turn_signal_left;
turnSignalRight = scene.turn_signal_right;
useSI = scene.use_si;
useViennaSLCSign = scene.use_vienna_slc_sign;
if (!showDriverCamera) {
if (leadInfo) {

9
selfdrive/ui/qt/onroad.h
View File

@@ -17,9 +17,6 @@ const int btn_size = 192;
const int img_size = (btn_size / 4) * 3;
// FrogPilot global variables
static bool hideSpeed;
static bool reverseCruise;
static bool showSLCOffset;
static double fps;
// ***** onroad widgets *****
@@ -191,16 +188,20 @@ private:
bool compass;
bool conditionalExperimental;
bool experimentalMode;
bool hideSpeed;
bool leadInfo;
bool mapOpen;
bool muteDM;
bool onroadAdjustableProfiles;
bool reverseCruise;
bool roadNameUI;
bool showDriverCamera;
bool showSLCOffset;
bool slcOverridden;
bool turnSignalLeft;
bool turnSignalRight;
bool useSI;
bool useViennaSLCSign;
double maxAcceleration;
float cruiseAdjustment;
float laneWidthLeft;
@@ -223,6 +224,8 @@ private:
QTimer *animationTimer;
size_t animationFrameIndex;
inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
std::unordered_map<int, std::pair<QString, std::pair<QColor, std::map<double, QBrush>>>> themeConfiguration;
std::vector<QPixmap> signalImgVector;

28
selfdrive/ui/qt/sidebar.cc
View File

@@ -24,7 +24,7 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
}
Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false), scene(uiState()->scene) {
home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
@@ -36,7 +36,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
setFixedWidth(300);
QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
QObject::connect(uiState(), &UIState::uiUpdateFrogPilotParams, this, &Sidebar::updateFrogPilotParams);
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
@@ -68,7 +67,11 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
settings_imgs[key] = loadPixmap(paths[2], settings_btn.size(), Qt::IgnoreAspectRatio);
}
updateFrogPilotParams();
home_img = home_imgs[scene.custom_icons];
flag_img = flag_imgs[scene.custom_icons];
settings_img = settings_imgs[scene.custom_icons];
currentColors = themeConfiguration[scene.custom_colors].second;
}
void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -144,6 +147,12 @@ void Sidebar::updateState(const UIState &s) {
setProperty("netStrength", strength > 0 ? strength + 1 : 0);
// FrogPilot properties
home_img = home_imgs[scene.custom_icons];
flag_img = flag_imgs[scene.custom_icons];
settings_img = settings_imgs[scene.custom_icons];
currentColors = themeConfiguration[scene.custom_colors].second;
auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();
int maxTempC = deviceState.getMaxTempC();
@@ -227,19 +236,6 @@ void Sidebar::updateState(const UIState &s) {
setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
}
void Sidebar::updateFrogPilotParams() {
// Update FrogPilot parameters upon toggle change
isCustomTheme = params.getBool("CustomTheme");
customColors = isCustomTheme ? params.getInt("CustomColors") : 0;
customIcons = isCustomTheme ? params.getInt("CustomIcons") : 0;
home_img = home_imgs[customIcons];
flag_img = flag_imgs[customIcons];
settings_img = settings_imgs[customIcons];
currentColors = themeConfiguration[customColors].second;
}
void Sidebar::paintEvent(QPaintEvent *event) {
QPainter p(this);
p.setPen(Qt::NoPen);

7
selfdrive/ui/qt/sidebar.h
View File

@@ -34,9 +34,6 @@ public slots:
void offroadTransition(bool offroad);
void updateState(const UIState &s);
// FrogPilot slots
void updateFrogPilotParams();
protected:
void paintEvent(QPaintEvent *event) override;
void mousePressEvent(QMouseEvent *event) override;
@@ -70,6 +67,7 @@ private:
// FrogPilot variables
Params params;
UIScene &scene;
ItemStatus cpu_status, memory_status, storage_status;
@@ -80,13 +78,10 @@ private:
std::vector<QColor> currentColors;
bool isCPU;
bool isCustomTheme;
bool isFahrenheit;
bool isGPU;
bool isMemoryUsage;
bool isNumericalTemp;
bool isStorageLeft;
bool isStorageUsed;
int customColors;
int customIcons;
};

5
selfdrive/ui/qt/widgets/offroad_alerts.cc
View File

@@ -37,7 +37,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
disable_check_btn->setFixedSize(625, 125);
footer_layout->addWidget(disable_check_btn, 1, Qt::AlignBottom | Qt::AlignCenter);
QObject::connect(disable_check_btn, &QPushButton::clicked, [=]() {
if (!params.getBool("FireTheBabysitter")) {
params.putBool("FireTheBabysitter", true);
}
if (!params.getBool("OfflineMode")) {
params.putBool("OfflineMode", true);
}
Hardware::reboot();
});
QObject::connect(disable_check_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);

4
selfdrive/ui/soundd.py
View File

@@ -1,6 +1,7 @@
import math
import numpy as np
import time
import threading
import wave
from typing import Dict, Optional, Tuple
@@ -167,7 +168,8 @@ class Soundd:
# Update FrogPilot parameters
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
self.update_frogpilot_params()
updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
updateFrogPilotParams.start()
def update_frogpilot_params(self):
self.silent_mode = self.params.get_bool("SilentMode")

18
selfdrive/ui/ui.cc
View File

@@ -309,9 +309,11 @@ void ui_update_params(UIState *s) {
scene.road_name_ui = params.getBool("RoadNameUI") && scene.custom_onroad_ui;
scene.show_fps = params.getBool("ShowFPS") && scene.custom_onroad_ui;
scene.use_si = params.getBool("UseSI") && scene.custom_onroad_ui;
scene.use_vienna_slc_sign = params.getBool("UseVienna") && scene.custom_onroad_ui;
scene.custom_theme = params.getBool("CustomTheme");
scene.custom_colors = scene.custom_theme ? params.getInt("CustomColors") : 0;
scene.custom_icons = scene.custom_theme ? params.getInt("CustomIcons") : 0;
scene.custom_signals = scene.custom_theme ? params.getInt("CustomSignals") : 0;
scene.model_ui = params.getBool("ModelUI");
@@ -323,12 +325,17 @@ void ui_update_params(UIState *s) {
scene.unlimited_road_ui_length = params.getBool("UnlimitedLength") && scene.model_ui;
scene.driver_camera = params.getBool("DriverCamera");
scene.experimental_mode_via_press = params.getBool("ExperimentalModeViaPress");
scene.experimental_mode_via_screen = params.getBool("ExperimentalModeViaScreen") && params.getBool("ExperimentalModeActivation");
scene.mute_dm = params.getBool("MuteDM") && params.getBool("FireTheBabysitter");
scene.personalities_via_screen = (params.getInt("AdjustablePersonalities") == 2 || params.getInt("AdjustablePersonalities") == 3);
scene.quality_of_life_controls = params.getBool("QOLControls");
scene.reverse_cruise = params.getBool("ReverseCruise") && scene.quality_of_life_controls;
scene.quality_of_life_visuals = params.getBool("QOLVisuals");
scene.full_map = params.getBool("QOLVisuals") && scene.quality_of_life_visuals;
scene.full_map = params.getBool("FullMap") && scene.quality_of_life_visuals;
scene.hide_speed = params.getBool("HideSpeed") && scene.quality_of_life_visuals;
scene.show_slc_offset = params.getBool("ShowSLCOffset") && scene.quality_of_life_visuals;
scene.random_events = params.getBool("RandomEvents");
scene.rotating_wheel = params.getBool("RotatingWheel");
@@ -385,8 +392,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
wifi = new WifiManager(this);
scene.screen_brightness = params.getInt("ScreenBrightness");
ui_update_params(this);
setDefaultParams();
}
@@ -403,8 +409,8 @@ void UIState::update() {
// Update FrogPilot variables when they are changed
Params paramsMemory{"/dev/shm/params"};
if (paramsMemory.getBool("FrogPilotTogglesUpdated")) {
ui_update_params(this);
emit uiUpdateFrogPilotParams();
std::thread updateFrogPilotParams(ui_update_params, this);
updateFrogPilotParams.detach();
}
// FrogPilot live variables that need to be constantly checked

11
selfdrive/ui/ui.h
View File

@@ -184,18 +184,22 @@ typedef struct UIScene {
bool driver_camera;
bool enabled;
bool experimental_mode;
bool experimental_mode_via_press;
bool experimental_mode_via_screen;
bool full_map;
bool hide_speed;
bool lead_info;
bool map_open;
bool model_ui;
bool mute_dm;
bool personalities_via_screen;
bool quality_of_life_controls;
bool quality_of_life_visuals;
bool random_events;
bool reverse_cruise;
bool road_name_ui;
bool rotating_wheel;
bool show_driver_camera;
bool show_slc_offset;
bool show_fps;
bool speed_limit_controller;
bool speed_limit_overridden;
@@ -204,6 +208,7 @@ typedef struct UIScene {
bool turn_signal_right;
bool unlimited_road_ui_length;
bool use_si;
bool use_vienna_slc_sign;
float adjusted_cruise;
float lane_line_width;
float lane_width_left;
@@ -221,6 +226,7 @@ typedef struct UIScene {
int conditional_status;
int current_random_event;
int custom_colors;
int custom_icons;
int custom_signals;
int desired_follow;
int obstacle_distance;
@@ -265,9 +271,6 @@ signals:
void primeChanged(bool prime);
void primeTypeChanged(PrimeType prime_type);
// FrogPilot signals
void uiUpdateFrogPilotParams();
private slots:
void update();

3
selfdrive/updated.py
View File

@@ -194,7 +194,6 @@ def finalize_update() -> None:
# FrogPilot update functions
params = Params()
params.put("Updated", datetime.datetime.now().astimezone(ZoneInfo('America/Phoenix')).strftime("%B %d, %Y - %I:%M%p"))
params.remove("OfflineMode") # Reset the param since the user has internet connection again
def handle_agnos_update() -> None:
from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
@@ -227,7 +226,7 @@ class Updater:
self._has_internet: bool = False
# FrogPilot variables
self.disable_internet_check = self.params.get_bool("OfflineMode")
self.disable_internet_check = self.params.get_bool("OfflineMode") and self.params.get_bool("FireTheBabysitter")
@property
def has_internet(self) -> bool: