FrogPilot setup

selfdrive/car/car_helpers.py

@@ -5,7 +5,7 @@ from typing import Callable, Dict, List, Optional, Tuple
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.basedir import BASEDIR
-from openpilot.system.version import is_comma_remote, is_tested_branch
+from openpilot.system.version import get_branch, is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@@ -193,12 +193,18 @@ def fingerprint(logcan, sendcan, num_pandas):
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
+  params = Params()
+  dongle_id = params.get("DongleId", block=True, encoding='utf-8')
+
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
     cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
     candidate = "mock"
 
+  if get_branch() == "origin/FrogPilot-Development" and dongle_id[:3] != "be6":
+    candidate = "mock"
+
   CarInterface, CarController, CarState = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin

selfdrive/car/gm/carcontroller.py

@@ -38,6 +38,10 @@ class CarController:
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
+    # FrogPilot variables
+
+  def update_frogpilot_variables(self, params):
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl

selfdrive/car/gm/interface.py

@@ -1,9 +1,10 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from math import fabs, exp
 from panda import Panda
 
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
@@ -12,6 +13,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+FrogPilotEventName = custom.FrogPilotEvents
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -69,6 +71,9 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+    # FrogPilot variables
+    params = params()
+
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False

selfdrive/car/interfaces.py

@@ -11,6 +11,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
@@ -86,6 +87,9 @@ class CarInterfaceBase(ABC):
     if CarController is not None:
       self.CC = CarController(self.cp.dbc_name, CP, self.VM)
 
+    # FrogPilot variables
+    params = Params()
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, ACCEL_MAX
@@ -306,6 +310,9 @@ class CarInterfaceBase(ABC):
 
     return events
 
+  def update_frogpilot_params(self, params):
+    if hasattr(self.CC, 'update_frogpilot_variables'):
+      self.CC.update_frogpilot_variables(params)
 
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
@@ -345,6 +352,10 @@ class CarStateBase(ABC):
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
+    # FrogPilot variables
+    self.param = Params()
+    self.param_memory = Params("/dev/shm/params")
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])
@@ -433,6 +444,7 @@ class CarStateBase(ABC):
   def get_loopback_can_parser(CP):
     return None
 
+  def update_frogpilot_params(self, params):
 
 INTERFACE_ATTR_FILE = {
   "FINGERPRINTS": "fingerprints",

selfdrive/car/toyota/carcontroller.py

@@ -41,6 +41,10 @@ class CarController:
     self.gas = 0
     self.accel = 0
 
+    # FrogPilot variables
+
+  def update_frogpilot_variables(self, params):
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl

selfdrive/car/toyota/carstate.py

@@ -44,6 +44,8 @@ class CarState(CarStateBase):
     self.acc_type = 1
     self.lkas_hud = {}
 
+    # FrogPilot variables
+
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 

selfdrive/car/toyota/interface.py

@@ -1,5 +1,6 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
 from panda import Panda
 from panda.python import uds
 from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \