FrogPilot setup

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -0,0 +1,47 @@
+import cereal.messaging as messaging
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+
+
+class FrogPilotPlanner:
+  def __init__(self, params):
+    self.v_cruise = 0
+
+    self.update_frogpilot_params(params)
+
+  def update(self, sm, mpc):
+    carState, controlsState, modelData = sm['carState'], sm['controlsState'], sm['modelV2']
+
+    enabled = controlsState.enabled
+
+    v_cruise_kph = min(controlsState.vCruise, V_CRUISE_MAX)
+    v_cruise = v_cruise_kph * CV.KPH_TO_MS
+    v_ego = carState.vEgo
+
+    self.v_cruise = self.update_v_cruise(carState, controlsState, modelData, enabled, v_cruise, v_ego)
+
+  def update_v_cruise(self, carState, controlsState, modelData, enabled, v_cruise, v_ego):
+    v_ego_diff = max(carState.vEgoRaw - carState.vEgoCluster, 0)
+    return v_cruise - v_ego_diff
+
+  def publish_lateral(self, sm, pm, DH):
+    frogpilot_lateral_plan_send = messaging.new_message('frogpilotLateralPlan')
+    frogpilot_lateral_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
+    frogpilotLateralPlan = frogpilot_lateral_plan_send.frogpilotLateralPlan
+
+    pm.send('frogpilotLateralPlan', frogpilot_lateral_plan_send)
+
+  def publish_longitudinal(self, sm, pm, mpc):
+    frogpilot_longitudinal_plan_send = messaging.new_message('frogpilotLongitudinalPlan')
+    frogpilot_longitudinal_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    frogpilotLongitudinalPlan = frogpilot_longitudinal_plan_send.frogpilotLongitudinalPlan
+
+    pm.send('frogpilotLongitudinalPlan', frogpilot_longitudinal_plan_send)
+
+  def update_frogpilot_params(self, params):
+    self.is_metric = params.get_bool("IsMetric")
+
+    lateral_tune = params.get_bool("LateralTune")
+
+    longitudinal_tune = params.get_bool("LongitudinalTune")

selfdrive/frogpilot/ui/control_settings.cc

@@ -0,0 +1,128 @@
+#include "selfdrive/frogpilot/ui/control_settings.h"
+#include "selfdrive/ui/ui.h"
+
+FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
+    {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
+
+    {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
+  };
+
+  for (const auto &[param, title, desc, icon] : controlToggles) {
+    ParamControl *toggle;
+
+    if (param == "LateralTune") {
+      FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end());
+        }
+      });
+      toggle = lateralTuneToggle;
+
+    } else if (param == "LongitudinalTune") {
+      FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end());
+        }
+      });
+      toggle = longitudinalTuneToggle;
+
+    } else {
+      toggle = new ParamControl(param, title, desc, icon, this);
+    }
+
+    addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
+      update();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+      update();
+    });
+  }
+
+  std::set<std::string> rebootKeys = {};
+  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();
+      }
+    });
+  }
+
+  conditionalExperimentalKeys = {};
+  fireTheBabysitterKeys = {};
+  laneChangeKeys = {};
+  lateralTuneKeys = {};
+  longitudinalTuneKeys = {};
+  speedLimitControllerKeys = {};
+  visionTurnControlKeys = {};
+
+  QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotControlsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotControlsPanel::updateMetric);
+
+  hideSubToggles();
+  updateMetric();
+}
+
+void FrogPilotControlsPanel::updateToggles() {
+  std::thread([this]() {
+    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+  }).detach();
+}
+
+void FrogPilotControlsPanel::updateMetric() {
+  bool previousIsMetric = isMetric;
+  isMetric = params.getBool("IsMetric");
+
+  if (isMetric != previousIsMetric) {
+    double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
+    double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
+  }
+
+  if (isMetric) {
+  } else {
+  }
+
+  previousIsMetric = isMetric;
+}
+
+void FrogPilotControlsPanel::parentToggleClicked() {
+  this->openParentToggle();
+}
+
+void FrogPilotControlsPanel::hideSubToggles() {
+  for (auto &[key, toggle] : toggles) {
+    const bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
+                            fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||
+                            laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
+                            lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
+                            longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() ||
+                            speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() ||
+                            visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end();
+    toggle->setVisible(!subToggles);
+  }
+
+  this->closeParentToggle();
+}
+
+void FrogPilotControlsPanel::hideEvent(QHideEvent *event) {
+  hideSubToggles();
+}

selfdrive/frogpilot/ui/control_settings.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <set>
+
+#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class FrogPilotControlsPanel : public FrogPilotListWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotControlsPanel(SettingsWindow *parent);
+
+signals:
+  void closeParentToggle();
+  void openParentToggle();
+
+private:
+  void hideEvent(QHideEvent *event);
+  void hideSubToggles();
+  void parentToggleClicked();
+  void updateMetric();
+  void updateToggles();
+
+  std::set<QString> conditionalExperimentalKeys;
+  std::set<QString> fireTheBabysitterKeys;
+  std::set<QString> laneChangeKeys;
+  std::set<QString> lateralTuneKeys;
+  std::set<QString> longitudinalTuneKeys;
+  std::set<QString> speedLimitControllerKeys;
+  std::set<QString> visionTurnControlKeys;
+
+  std::map<std::string, ParamControl*> toggles;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+
+  bool isMetric = params.getBool("IsMetric");
+};

selfdrive/frogpilot/ui/frogpilot_functions.cc

@@ -0,0 +1,166 @@
+#include <filesystem>
+
+#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
+#include "selfdrive/ui/ui.h"
+
+bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Reboot Later"), false, parent);
+  return d.exec();
+}
+
+bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, button_text, "", false, parent);
+  return d.exec();
+}
+
+bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Yes"), tr("No"), false, parent);
+  return d.exec();
+}
+
+FrogPilotButtonIconControl::FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc, const QString &icon, QWidget *parent) : AbstractControl(title, desc, icon, parent) {
+  btn.setText(text);
+  btn.setStyleSheet(R"(
+    QPushButton {
+      padding: 0;
+      border-radius: 50px;
+      font-size: 35px;
+      font-weight: 500;
+      color: #E4E4E4;
+      background-color: #393939;
+    }
+    QPushButton:pressed {
+      background-color: #4a4a4a;
+    }
+    QPushButton:disabled {
+      color: #33E4E4E4;
+    }
+  )");
+  btn.setFixedSize(250, 100);
+  QObject::connect(&btn, &QPushButton::clicked, this, &FrogPilotButtonIconControl::clicked);
+  hlayout->addWidget(&btn);
+}
+
+void setDefaultParams() {
+  Params params = Params();
+  bool FrogsGoMoo = params.get("DongleId").substr(0, 3) == "be6";
+
+  std::map<std::string, std::string> defaultValues {
+    {"AccelerationPath", FrogsGoMoo ? "1" : "0"},
+    {"AccelerationProfile", FrogsGoMoo ? "3" : "2"},
+    {"AdjacentPath", FrogsGoMoo ? "1" : "0"},
+    {"AdjustablePersonalities", "3"},
+    {"AggressiveAcceleration", "1"},
+    {"AggressiveFollow", FrogsGoMoo ? "10" : "12"},
+    {"AggressiveJerk", FrogsGoMoo ? "6" : "5"},
+    {"AlwaysOnLateral", "1"},
+    {"AlwaysOnLateralMain", FrogsGoMoo ? "1" : "0"},
+    {"AverageCurvature", FrogsGoMoo ? "1" : "0"},
+    {"BlindSpotPath", "1"},
+    {"CameraView", FrogsGoMoo ? "1" : "0"},
+    {"CECurves", "1"},
+    {"CECurvesLead", "0"},
+    {"CENavigation", "1"},
+    {"CESignal", "1"},
+    {"CESlowerLead", "0"},
+    {"CESpeed", "0"},
+    {"CESpeedLead", "0"},
+    {"CEStopLights", "1"},
+    {"CEStopLightsLead", FrogsGoMoo ? "0" : "1"},
+    {"Compass", FrogsGoMoo ? "1" : "0"},
+    {"ConditionalExperimental", "1"},
+    {"CurveSensitivity", FrogsGoMoo ? "125" : "100"},
+    {"CustomColors", "1"},
+    {"CustomIcons", "1"},
+    {"CustomPersonalities", "1"},
+    {"CustomSignals", "1"},
+    {"CustomSounds", "1"},
+    {"CustomTheme", "1"},
+    {"CustomUI", "1"},
+    {"DeviceShutdown", "9"},
+    {"DriverCamera", "0"},
+    {"EVTable", FrogsGoMoo ? "0" : "1"},
+    {"ExperimentalModeViaPress", "1"},
+    {"Fahrenheit", "0"},
+    {"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
+    {"GasRegenCmd", "0"},
+    {"GoatScream", "1"},
+    {"GreenLightAlert", "0"},
+    {"HideSpeed", "0"},
+    {"LaneChangeTime", "0"},
+    {"LaneDetection", "1"},
+    {"LaneLinesWidth", "4"},
+    {"LateralTune", "1"},
+    {"LeadInfo", FrogsGoMoo ? "1" : "0"},
+    {"LockDoors", "0"},
+    {"LongitudinalTune", "1"},
+    {"LongPitch", FrogsGoMoo ? "0" : "1"},
+    {"LowerVolt", FrogsGoMoo ? "0" : "1"},
+    {"Model", "0"},
+    {"ModelUI", "1"},
+    {"MTSCEnabled", "1"},
+    {"MuteDM", FrogsGoMoo ? "1" : "0"},
+    {"MuteDoor", FrogsGoMoo ? "1" : "0"},
+    {"MuteOverheated", FrogsGoMoo ? "1" : "0"},
+    {"MuteSeatbelt", FrogsGoMoo ? "1" : "0"},
+    {"NNFF", FrogsGoMoo ? "1" : "0"},
+    {"NoLogging", "0"},
+    {"NudgelessLaneChange", "1"},
+    {"NumericalTemp", FrogsGoMoo ? "1" : "0"},
+    {"Offset1", "5"},
+    {"Offset2", FrogsGoMoo ? "7" : "5"},
+    {"Offset3", "5"},
+    {"Offset4", FrogsGoMoo ? "20" : "10"},
+    {"OneLaneChange", "1"},
+    {"PathEdgeWidth", "20"},
+    {"PathWidth", "61"},
+    {"PauseLateralOnSignal", "0"},
+    {"PreferredSchedule", "0"},
+    {"RandomEvents", FrogsGoMoo ? "1" : "0"},
+    {"RelaxedFollow", "30"},
+    {"RelaxedJerk", "50"},
+    {"ReverseCruise", "0"},
+    {"RoadEdgesWidth", "2"},
+    {"RoadNameUI", "1"},
+    {"RotatingWheel", "1"},
+    {"ScreenBrightness", "101"},
+    {"SearchInput", "0"},
+    {"ShowCPU", FrogsGoMoo ? "1" : "0"},
+    {"ShowFPS", FrogsGoMoo ? "1" : "0"},
+    {"ShowGPU", "0"},
+    {"ShowMemoryUsage", FrogsGoMoo ? "1" : "0"},
+    {"Sidebar", FrogsGoMoo ? "1" : "0"},
+    {"SilentMode", "0"},
+    {"SLCFallback", "2"},
+    {"SLCOverride", FrogsGoMoo ? "2" : "1"},
+    {"SLCPriority", "1"},
+    {"SmoothBraking", "1"},
+    {"SNGHack", FrogsGoMoo ? "0" : "1"},
+    {"SpeedLimitController", "1"},
+    {"StandardFollow", "15"},
+    {"StandardJerk", "10"},
+    {"StoppingDistance", FrogsGoMoo ? "6" : "0"},
+    {"TSS2Tune", "1"},
+    {"TurnAggressiveness", FrogsGoMoo ? "150" : "100"},
+    {"TurnDesires", "1"},
+    {"UnlimitedLength", "1"},
+    {"UseSI", FrogsGoMoo ? "1" : "0"},
+    {"VisionTurnControl", "1"},
+    {"WheelIcon", FrogsGoMoo ? "1" : "0"}
+  };
+
+  bool rebootRequired = false;
+  for (const auto &[key, value] : defaultValues) {
+    if (params.get(key).empty()) {
+      params.put(key, value);
+      rebootRequired = true;
+    }
+  }
+
+  if (rebootRequired) {
+    while (!std::filesystem::exists("/data/openpilot/prebuilt")) {
+      std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+    Hardware::reboot();
+  }
+}

selfdrive/frogpilot/ui/frogpilot_functions.h

@@ -0,0 +1,545 @@
+#pragma once
+
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+class FrogPilotConfirmationDialog : public ConfirmationDialog {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
+                              const QString &cancel_text, const bool rich, QWidget* parent);
+  static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
+  static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent);
+  static bool yesorno(const QString &prompt_text, QWidget *parent);
+};
+
+class FrogPilotListWidget : public QWidget {
+  Q_OBJECT
+public:
+  explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) {
+    outer_layout.setMargin(0);
+    outer_layout.setSpacing(0);
+    outer_layout.addLayout(&inner_layout);
+    inner_layout.setMargin(0);
+    inner_layout.setSpacing(25); // default spacing is 25
+    outer_layout.addStretch();
+  }
+  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
+  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
+  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
+
+private:
+  void paintEvent(QPaintEvent *) override {
+    QPainter p(this);
+    p.setPen(Qt::gray);
+
+    int visibleWidgetCount = 0;
+    std::vector<QRect> visibleRects;
+
+    for (int i = 0; i < inner_layout.count(); ++i) {
+      QWidget *widget = inner_layout.itemAt(i)->widget();
+      if (widget && widget->isVisible()) {
+        visibleWidgetCount++;
+        visibleRects.push_back(inner_layout.itemAt(i)->geometry());
+      }
+    }
+
+    for (int i = 0; i < visibleWidgetCount - 1; ++i) {
+      int bottom = visibleRects[i].bottom() + inner_layout.spacing() / 2;
+      p.drawLine(visibleRects[i].left() + 40, bottom, visibleRects[i].right() - 40, bottom);
+    }
+  }
+  QVBoxLayout outer_layout;
+  QVBoxLayout inner_layout;
+};
+
+class FrogPilotButtonIconControl : public AbstractControl {
+  Q_OBJECT
+
+public:
+  FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  inline void setText(const QString &text) { btn.setText(text); }
+  inline QString text() const { return btn.text(); }
+
+signals:
+  void clicked();
+
+public slots:
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
+
+private:
+  QPushButton btn;
+};
+
+class FrogPilotButtonParamControl : public ParamControl {
+  Q_OBJECT
+public:
+  FrogPilotButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225)
+    : ParamControl(param, title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #33Ab4C;
+      }
+      QPushButton:disabled {
+        color: #33E4E4E4;
+      }
+    )";
+
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (size_t i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(i == value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      hlayout->addWidget(button);
+      button_group->addButton(button, i);
+    }
+
+    QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
+      if (checked) {
+        params.put(key, std::to_string(id));
+        refresh();
+        emit buttonClicked(id);
+      }
+    });
+
+    toggle.hide();
+  }
+
+  void setEnabled(bool enable) {
+    for (auto btn : button_group->buttons()) {
+      btn->setEnabled(enable);
+    }
+  }
+
+signals:
+  void buttonClicked(int id);
+
+private:
+  std::string key;
+  Params params;
+  QButtonGroup *button_group;
+};
+
+class FrogPilotParamManageControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  FrogPilotParamManageControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr)
+    : ParamControl(param, title, desc, icon, parent),
+      key(param.toStdString()),
+      manageButton(new ButtonControl(tr(""), tr("MANAGE"), tr(""))) {
+    hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton);
+
+    connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
+      refresh();
+    });
+
+    connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked);
+  }
+
+  void refresh() {
+    ParamControl::refresh();
+    manageButton->setVisible(params.getBool(key));
+  }
+
+  void showEvent(QShowEvent *event) override {
+    ParamControl::showEvent(event);
+    refresh();
+  }
+
+signals:
+  void manageButtonClicked();
+
+private:
+  std::string key;
+  Params params;
+  ButtonControl *manageButton;
+};
+
+class FrogPilotParamToggleControl : public ParamControl {
+  Q_OBJECT
+public:
+  FrogPilotParamToggleControl(const QString &param, const QString &title, const QString &desc,
+                     const QString &icon, const std::vector<QString> &button_params, 
+                     const std::vector<QString> &button_texts, QWidget *parent = nullptr, 
+                     const int minimum_button_width = 225)
+    : ParamControl(param, title, desc, icon, parent) {
+
+    connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
+      refreshButtons(state);
+    });
+
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #33Ab4C;
+      }
+      QPushButton:disabled {
+        color: #33E4E4E4;
+      }
+    )";
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(false);
+
+    std::map<QString, bool> paramState;
+    for (const QString &button_param : button_params) {
+      paramState[button_param] = params.getBool(button_param.toStdString());
+    }
+
+    for (int i = 0; i < button_texts.size(); ++i) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(paramState[button_params[i]]);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      button_group->addButton(button, i);
+
+      connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) {
+        params.putBool(button_params[i].toStdString(), checked);
+        button_group->button(i)->setChecked(checked);
+        emit buttonClicked(checked);
+      });
+
+      hlayout->insertWidget(hlayout->indexOf(&toggle), button);
+    }
+  }
+
+  void refreshButtons(bool state) {
+    for (QAbstractButton *button : button_group->buttons()) {
+      button->setVisible(state);
+    }
+  }
+
+signals:
+  void buttonClicked(const bool checked);
+
+private:
+  Params params;
+  QButtonGroup *button_group;
+};
+
+class FrogPilotParamValueControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  FrogPilotParamValueControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                    const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels,
+                    QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1)
+    : 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);
+        });
+
+        connect(incrementButton, &QPushButton::clicked, this, [=]() {
+          updateValue(1);
+        });
+
+        toggle.hide();
+      }
+
+  void updateValue(int increment) {
+    value = value + increment;
+
+    if (loop) {
+      if (value < minValue) value = maxValue;
+      else if (value > maxValue) value = minValue;
+    } else {
+      value = std::max(minValue, std::min(maxValue, value));
+    }
+
+    params.putInt(key, value);
+    refresh();
+    emit buttonPressed();
+    emit valueChanged(value);
+  }
+
+  void refresh() {
+    value = params.getInt(key);
+
+    QString text;
+    auto it = valueLabelMappings.find(value);
+    if (division > 1) {
+      text = QString::number(value / (division * 1.0), 'g');
+    } else {
+      text = it != valueLabelMappings.end() ? it->second : QString::number(value);
+    }
+    if (!labelText.isEmpty()) {
+      text += labelText;
+    }
+    valueLabel->setText(text);
+    valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
+  }
+
+  void updateControl(int newMinValue, int newMaxValue, const QString &newLabel) {
+    minValue = newMinValue;
+    maxValue = newMaxValue;
+    labelText = newLabel;
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+signals:
+  void buttonPressed();
+  void valueChanged(int value);
+
+private:
+  bool loop;
+  int division;
+  int maxValue;
+  int minValue;
+  int 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
+
+public:
+  FrogPilotDualParamControl(ParamControl *control1, ParamControl *control2, QWidget *parent = nullptr, bool split=false)
+    : QFrame(parent) {
+    QHBoxLayout *hlayout = new QHBoxLayout(this);
+
+    control1->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred);
+    control1->setMaximumWidth(split ? 800 : 700);
+
+    control2->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
+    control2->setMaximumWidth(800);
+
+    hlayout->addWidget(control1);
+    hlayout->addWidget(control2);
+  }
+};
+
+class FrogPilotParamValueToggleControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  FrogPilotParamValueToggleControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                          const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels,
+                          QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1,
+                          const std::vector<QString> &button_params = std::vector<QString>(), const std::vector<QString> &button_texts = std::vector<QString>(),
+                          const int minimum_button_width = 225)
+    : ParamControl(param, title, desc, icon, parent),
+      minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
+        key = param.toStdString();
+
+        const QString style = R"(
+          QPushButton {
+            border-radius: 50px;
+            font-size: 40px;
+            font-weight: 500;
+            height:100px;
+            padding: 0 25 0 25;
+            color: #E4E4E4;
+            background-color: #393939;
+          }
+          QPushButton:pressed {
+            background-color: #4a4a4a;
+          }
+          QPushButton:checked:enabled {
+            background-color: #33Ab4C;
+          }
+          QPushButton:disabled {
+            color: #33E4E4E4;
+          }
+        )";
+
+        button_group = new QButtonGroup(this);
+        button_group->setExclusive(false);
+
+        std::map<QString, bool> paramState;
+        for (const QString &button_param : button_params) {
+          paramState[button_param] = params.getBool(button_param.toStdString());
+        }
+
+        for (int i = 0; i < button_texts.size(); ++i) {
+          QPushButton *button = new QPushButton(button_texts[i], this);
+          button->setCheckable(true);
+          button->setChecked(paramState[button_params[i]]);
+          button->setStyleSheet(style);
+          button->setMinimumWidth(minimum_button_width);
+          button_group->addButton(button, i);
+
+          connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) {
+            params.putBool(button_params[i].toStdString(), checked);
+            button_group->button(i)->setChecked(checked);
+          });
+
+          hlayout->addWidget(button);
+        }
+
+        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);
+        });
+
+        connect(incrementButton, &QPushButton::clicked, this, [=]() {
+          updateValue(1);
+        });
+
+        toggle.hide();
+      }
+
+  void updateValue(int increment) {
+    value = value + increment;
+
+    if (loop) {
+      if (value < minValue) value = maxValue;
+      else if (value > maxValue) value = minValue;
+    } else {
+      value = std::max(minValue, std::min(maxValue, value));
+    }
+
+    params.putInt(key, value);
+    refresh();
+    emit buttonPressed();
+    emit valueChanged(value);
+  }
+
+  void refresh() {
+    value = params.getInt(key);
+
+    QString text;
+    auto it = valueLabelMappings.find(value);
+    if (division > 1) {
+      text = QString::number(value / (division * 1.0), 'g');
+    } else {
+      text = it != valueLabelMappings.end() ? it->second : QString::number(value);
+    }
+    if (!labelText.isEmpty()) {
+      text += labelText;
+    }
+    valueLabel->setText(text);
+    valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
+  }
+
+  void updateControl(int newMinValue, int newMaxValue, const QString &newLabel) {
+    minValue = newMinValue;
+    maxValue = newMaxValue;
+    labelText = newLabel;
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+signals:
+  void buttonPressed();
+  void valueChanged(int value);
+
+private:
+  bool loop;
+  int division;
+  int maxValue;
+  int minValue;
+  int value;
+  QButtonGroup *button_group;
+  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;
+  }
+};
+
+void setDefaultParams();

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -0,0 +1,56 @@
+#include "selfdrive/frogpilot/ui/vehicle_settings.h"
+#include "selfdrive/ui/ui.h"
+
+FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
+  };
+
+  for (auto &[param, title, desc, icon] : vehicleToggles) {
+    ParamControl *toggle = new ParamControl(param, title, desc, icon, this);
+
+    addItem(toggle);
+    toggle->setVisible(false);
+    toggles[param.toStdString()] = toggle;
+
+    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
+      updateToggles();
+    });
+  }
+
+  gmKeys = {};
+  toyotaKeys = {};
+
+  std::set<std::string> rebootKeys = {};
+  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();
+      }
+    });
+  }
+}
+
+void FrogPilotVehiclesPanel::updateToggles() {
+  std::thread([this]() {
+    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+  }).detach();
+}
+
+void FrogPilotVehiclesPanel::setToggles() {
+  bool gm = false;
+  bool toyota = false;
+
+  for (auto &[key, toggle] : toggles) {
+    toggle->setVisible(false);
+
+    if (gm) {
+      toggle->setVisible(gmKeys.find(key.c_str()) != gmKeys.end());
+    } else if (toyota) {
+      toggle->setVisible(toyotaKeys.find(key.c_str()) != toyotaKeys.end());
+    }
+  }
+
+  update();
+}

selfdrive/frogpilot/ui/vehicle_settings.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <set>
+
+#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class FrogPilotVehiclesPanel : public FrogPilotListWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotVehiclesPanel(SettingsWindow *parent);
+
+private:
+  void setToggles();
+  void updateToggles();
+
+  std::map<std::string, ParamControl*> toggles;
+
+  std::set<QString> gmKeys;
+  std::set<QString> toyotaKeys;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+};

selfdrive/frogpilot/ui/visual_settings.cc

@@ -0,0 +1,86 @@
+#include "selfdrive/frogpilot/ui/visual_settings.h"
+#include "selfdrive/ui/ui.h"
+
+FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
+  };
+
+  for (const auto &[param, title, desc, icon] : visualToggles) {
+    ParamControl *toggle;
+
+    toggle = new ParamControl(param, title, desc, icon, this);
+
+    addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
+      update();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+      update();
+    });
+  }
+
+  customOnroadUIKeys = {};
+  customThemeKeys = {};
+  modelUIKeys = {};
+
+  QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotVisualsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric);
+
+  hideSubToggles();
+  updateMetric();
+}
+
+void FrogPilotVisualsPanel::updateToggles() {
+  std::thread([this]() {
+    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+  }).detach();
+}
+
+void FrogPilotVisualsPanel::updateMetric() {
+  bool previousIsMetric = isMetric;
+  isMetric = params.getBool("IsMetric");
+
+  if (isMetric != previousIsMetric) {
+    double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
+    double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
+  }
+
+  if (isMetric) {
+  } else {
+  }
+
+  previousIsMetric = isMetric;
+}
+
+void FrogPilotVisualsPanel::parentToggleClicked() {
+  this->openParentToggle();
+}
+
+void FrogPilotVisualsPanel::hideSubToggles() {
+  for (auto &[key, toggle] : toggles) {
+    bool subToggles = modelUIKeys.find(key.c_str()) != modelUIKeys.end() ||
+                            customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end() ||
+                            customThemeKeys.find(key.c_str()) != customThemeKeys.end();
+    toggle->setVisible(!subToggles);
+  }
+
+  this->closeParentToggle();
+}
+
+void FrogPilotVisualsPanel::hideEvent(QHideEvent *event) {
+  hideSubToggles();
+}

selfdrive/frogpilot/ui/visual_settings.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <set>
+
+#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+class FrogPilotVisualsPanel : public FrogPilotListWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotVisualsPanel(SettingsWindow *parent);
+
+signals:
+  void closeParentToggle();
+  void openParentToggle();
+
+private:
+  void hideEvent(QHideEvent *event);
+  void hideSubToggles();
+  void parentToggleClicked();
+  void updateMetric();
+  void updateToggles();
+
+  std::set<QString> customOnroadUIKeys;
+  std::set<QString> customThemeKeys;
+  std::set<QString> modelUIKeys;
+
+  std::map<std::string, ParamControl*> toggles;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+
+  bool isMetric = params.getBool("IsMetric");
+};