FrogPilot setup

selfdrive/navd/navd.py

@@ -28,6 +28,7 @@ class RouteEngine:
     self.pm = pm
 
     self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
 
     # Get last gps position from params
     self.last_position = coordinate_from_param("LastGPSPosition", self.params)
@@ -59,7 +60,14 @@ class RouteEngine:
         self.mapbox_token = ""
       self.mapbox_host = "https://maps.comma.ai"
 
+    # FrogPilot variables
+    self.update_frogpilot_params()
+
   def update(self):
+    # Update FrogPilot parameters
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
     self.sm.update(0)
 
     if self.sm.updated["managerState"]:
@@ -301,6 +309,11 @@ class RouteEngine:
           self.params.remove("NavDestination")
           self.clear_route()
 
+    frogpilot_plan_send = messaging.new_message('frogpilotNavigation')
+    frogpilotNavigation = frogpilot_plan_send.frogpilotNavigation
+
+    self.pm.send('frogpilotNavigation', frogpilot_plan_send)
+
   def send_route(self):
     coords = []
 
@@ -349,9 +362,10 @@ class RouteEngine:
     return self.reroute_counter > REROUTE_COUNTER_MIN
     # TODO: Check for going wrong way in segment
 
+  def update_frogpilot_params(self):
 
 def main():
-  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
+  pm = messaging.PubMaster(['navInstruction', 'navRoute', 'frogpilotNavigation'])
   sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
 
   rk = Ratekeeper(1.0)