FrogPilot setup

2024-01-12 22:39:30 -07:00
parent 9d97e0ecc1
commit 7308c1b35c
60 changed files with 1660 additions and 49 deletions
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -24,7 +24,10 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
               "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
               "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
-               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
+               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc",
+               "../frogpilot/ui/frogpilot_functions.cc",
+               "../frogpilot/ui/control_settings.cc", "../frogpilot/ui/vehicle_settings.cc",
+               "../frogpilot/ui/visual_settings.cc"]

 qt_env['CPPDEFINES'] = []
 if maps:
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -39,6 +39,8 @@ private:
  OffroadAlert* alerts_widget;
  QPushButton* alert_notif;
  QPushButton* update_notif;
+
+  // FrogPilot variables
 };

 class HomeWindow : public QWidget {
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -77,6 +77,9 @@ private:
  void updateDestinationMarker();
  uint64_t route_rcv_frame = 0;

+  // FrogPilot variables
+  Params params;
+
 private slots:
  void updateState(const UIState &s);

--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -7,6 +7,7 @@
 #include <QMapboxGL>
 #include <QGeoCoordinate>

+#include "common/params.h"
 #include "common/util.h"
 #include "common/transformations/coordinates.hpp"
 #include "common/transformations/orientation.hpp"
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -7,6 +7,7 @@
 #include <vector>

 #include <QDebug>
+#include <QScrollBar>

 #include "selfdrive/ui/qt/network/networking.h"

@@ -23,6 +24,10 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"

+#include "selfdrive/frogpilot/ui/control_settings.h"
+#include "selfdrive/frogpilot/ui/vehicle_settings.h"
+#include "selfdrive/frogpilot/ui/visual_settings.h"
+
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
  // param, title, desc, icon
  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
@@ -117,6 +122,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
  connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
    updateToggles();
  });
+
+  connect(toggles["IsMetric"], &ToggleControl::toggleFlipped, [=]() {
+    updateMetric();
+  });
 }

 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -368,7 +377,14 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
  close_btn->setFixedSize(200, 200);
  sidebar_layout->addSpacing(45);
  sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+  QObject::connect(close_btn, &QPushButton::clicked, [this]() {
+    if (frogPilotTogglesOpen) {
+      frogPilotTogglesOpen = false;
+      this->closeParentToggle();
+    } else {
+      this->closeSettings();
+    }
+  });

  // setup panels
  DevicePanel *device = new DevicePanel(this);
@@ -377,12 +393,24 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {

  TogglesPanel *toggles = new TogglesPanel(this);
  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+  QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric);
+
+  FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});
+
+  FrogPilotVisualsPanel *frogpilotVisuals = new FrogPilotVisualsPanel(this);
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});

  QList<QPair<QString, QWidget *>> panels = {
    {tr("Device"), device},
    {tr("Network"), new Networking(this)},
    {tr("Toggles"), toggles},
    {tr("Software"), new SoftwarePanel(this)},
+    {tr("Controls"), frogpilotControls},
+    {tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
+    {tr("Visuals"), frogpilotVisuals},
  };

  nav_btns = new QButtonGroup(this);
@@ -415,7 +443,22 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
    ScrollView *panel_frame = new ScrollView(panel, this);
    panel_widget->addWidget(panel_frame);

+    if (name == tr("Controls") || name == tr("Visuals")) {
+      QScrollBar *scrollbar = panel_frame->verticalScrollBar();
+
+      QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) {
+        if (!frogPilotTogglesOpen) {
+          previousScrollPosition = value;
+        }
+      });
+
+      QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() {
+        panel_frame->restorePosition(previousScrollPosition);
+      });
+    }
+
    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      previousScrollPosition = 0;
      btn->setChecked(true);
      panel_widget->setCurrentWidget(w);
    });
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -31,11 +31,18 @@ signals:
  void showDriverView();
  void expandToggleDescription(const QString &param);

+  // FrogPilot signals
+  void closeParentToggle();
+  void updateMetric();
 private:
  QPushButton *sidebar_alert_widget;
  QWidget *sidebar_widget;
  QButtonGroup *nav_btns;
  QStackedWidget *panel_widget;
+
+  // FrogPilot variables
+  bool frogPilotTogglesOpen;
+  int previousScrollPosition;
 };

 class DevicePanel : public ListWidget {
@@ -61,6 +68,10 @@ public:
  explicit TogglesPanel(SettingsWindow *parent);
  void showEvent(QShowEvent *event) override;

+signals:
+  // FrogPilot signals
+  void updateMetric();
+
 public slots:
  void expandToggleDescription(const QString &param);

--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -28,7 +28,7 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
  p.setOpacity(1.0);
 }

-OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
+OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
  QVBoxLayout *main_layout  = new QVBoxLayout(this);
  main_layout->setMargin(UI_BORDER_SIZE);
  QStackedLayout *stacked_layout = new QStackedLayout;
@@ -93,8 +93,14 @@ void OnroadWindow::updateState(const UIState &s) {
 }

 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
+  Params params = Params();
+  Params paramsMemory = Params("/dev/shm/params");
+
+  // FrogPilot clickable widgets
+  bool widgetClicked = false;
+
 #ifdef ENABLE_MAPS
-  if (map != nullptr) {
+  if (map != nullptr && !widgetClicked) {
    // 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;
@@ -102,7 +108,9 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
  }
 #endif
  // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
+  if (!widgetClicked) {
+    QWidget::mousePressEvent(e);
+  }
 }

 void OnroadWindow::offroadTransition(bool offroad) {
@@ -114,6 +122,7 @@ void OnroadWindow::offroadTransition(bool offroad) {

      QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
      QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
+      QObject::connect(nvg->map_settings_btn_bottom, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
      nvg->map_settings_btn->setEnabled(true);

      m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
@@ -140,6 +149,8 @@ void OnroadWindow::primeChanged(bool prime) {
 }

 void OnroadWindow::paintEvent(QPaintEvent *event) {
+  Params paramsMemory = Params("/dev/shm/params");
+
  QPainter p(this);
  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
 }
@@ -167,11 +178,13 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {

  int margin = 40;
  int radius = 30;
+  int offset = true ? 25 : 0;
  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
    margin = 0;
    radius = 0;
+    offset = 0;
  }
-  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
+  QRect r = QRect(0 + margin, height() - h + margin - offset, width() - margin*2, h - margin*2);

  QPainter p(this);

@@ -212,7 +225,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 }

 // ExperimentalButton
-ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
+ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent), scene(uiState()->scene) {
  setFixedSize(btn_size, btn_size);

  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@@ -221,6 +234,8 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
 }

 void ExperimentalButton::changeMode() {
+  Params paramsMemory = Params("/dev/shm/params");
+
  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
  if (can_change) {
@@ -236,6 +251,8 @@ void ExperimentalButton::updateState(const UIState &s) {
    experimental_mode = cs.getExperimentalMode();
    update();
  }
+
+  // FrogPilot variables
 }

 void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -247,7 +264,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {

 // MapSettingsButton
 MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
+  setFixedSize(btn_size, btn_size + 20);
  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});

  // hidden by default, made visible if map is created (has prime or mapbox token)
@@ -262,7 +279,7 @@ void MapSettingsButton::paintEvent(QPaintEvent *event) {


 // Window that shows camera view and variety of info drawn on top
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent), scene(uiState()->scene) {
  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});

  main_layout = new QVBoxLayout(this);
@@ -276,6 +293,9 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
  main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);

  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
+
+  // Initialize FrogPilot widgets
+  initializeFrogPilotWidgets();
 }

 void AnnotatedCameraWidget::updateState(const UIState &s) {
@@ -468,7 +488,6 @@ void AnnotatedCameraWidget::updateFrameMat() {
 void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  painter.save();

-  const UIScene &scene = s->scene;
  SubMaster &sm = *(s->sm);

  // lanelines
@@ -525,12 +544,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 }

 void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
-  const UIScene &scene = s->scene;
-
  painter.save();

  // base icon
  int offset = UI_BORDER_SIZE + btn_size / 2;
+  offset += true ? 25 : 0;
  int x = rightHandDM ? width() - offset : offset;
  int y = height() - offset;
  float opacity = dmActive ? 0.65 : 0.2;
@@ -693,6 +711,9 @@ void AnnotatedCameraWidget::paintGL() {
  auto m = msg.initEvent().initUiDebug();
  m.setDrawTimeMillis(cur_draw_t - start_draw_t);
  pm->send("uiDebug", msg);
+
+  // Update FrogPilot widgets
+  updateFrogPilotWidgets(painter);
 }

 void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
@@ -701,3 +722,82 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
  ui_update_params(uiState());
  prev_draw_t = millis_since_boot();
 }
+
+// FrogPilot widgets
+void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
+  Params params = Params();
+
+  bottom_layout = new QHBoxLayout();
+
+  QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
+  bottom_layout->addItem(spacer);
+
+  map_settings_btn_bottom = new MapSettingsButton(this);
+  bottom_layout->addWidget(map_settings_btn_bottom);
+
+  main_layout->addLayout(bottom_layout);
+}
+
+void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
+  experimentalMode = scene.experimental_mode;
+
+  if (true) {
+    drawStatusBar(p);
+  }
+
+  map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
+  if (map_settings_btn_bottom->isEnabled()) {
+    map_settings_btn_bottom->setVisible(!hideBottomIcons);
+    bottom_layout->setAlignment(map_settings_btn_bottom, rightHandDM ? Qt::AlignLeft : Qt::AlignRight);
+  }
+}
+
+void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
+  p.save();
+
+  // Variable declarations
+  QElapsedTimer timer;
+  static QString lastShownStatus;
+  static QString newStatus;
+
+  static bool displayStatusText = false;
+
+  constexpr qreal fadeDuration = 1500.0;
+  constexpr qreal textDuration = 5000.0;
+
+  // Draw status bar
+  QRect currentRect = rect();
+  QRect statusBarRect(currentRect.left() - 1, currentRect.bottom() - 50, currentRect.width() + 2, 100);
+  p.setBrush(QColor(0, 0, 0, 150));
+  p.setOpacity(1.0);
+  p.drawRoundedRect(statusBarRect, 30, 30);
+
+  // Check if status has changed
+  if (newStatus != lastShownStatus) {
+    displayStatusText = true;
+    lastShownStatus = newStatus;
+    timer.restart();
+  } else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) {
+    displayStatusText = false;
+  }
+
+  // Configure the text
+  p.setFont(InterFont(40, QFont::Bold));
+  p.setPen(Qt::white);
+  p.setRenderHint(QPainter::TextAntialiasing);
+
+  // Calculate text opacity
+  static qreal statusTextOpacity;
+  int elapsed = timer.elapsed();
+  if (displayStatusText) {
+    statusTextOpacity = qBound(0.0, 1.0 - (elapsed - textDuration) / fadeDuration, 1.0);
+  }
+
+  // Draw the status text
+  p.setOpacity(statusTextOpacity);
+  QRect textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
+  textRect.moveBottom(statusBarRect.bottom() - 50);
+  p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
+
+  p.restore();
+}
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -14,13 +14,14 @@
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;

+// FrogPilot global variables

 // ***** onroad widgets *****
 class OnroadAlerts : public QWidget {
  Q_OBJECT

 public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent), scene(uiState()->scene) {}
  void updateAlert(const Alert &a);

 protected:
@@ -29,6 +30,9 @@ protected:
 private:
  QColor bg;
  Alert alert = {};
+
+  // FrogPilot variables
+  UIScene &scene;
 };

 class ExperimentalButton : public QPushButton {
@@ -47,6 +51,9 @@ private:
  QPixmap experimental_img;
  bool experimental_mode;
  bool engageable;
+
+  // FrogPilot variables
+  UIScene &scene;
 };


@@ -71,6 +78,7 @@ public:
  void updateState(const UIState &s);

  MapSettingsButton *map_settings_btn;
+  MapSettingsButton *map_settings_btn_bottom;

 private:
  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
@@ -97,6 +105,20 @@ private:
  int skip_frame_count = 0;
  bool wide_cam_requested = false;

+  // FrogPilot widgets
+  void drawStatusBar(QPainter &p);
+  void initializeFrogPilotWidgets();
+  void updateFrogPilotWidgets(QPainter &p);
+
+  // FrogPilot variables
+  Params paramsMemory{"/dev/shm/params"};
+
+  UIScene &scene;
+
+  QHBoxLayout *bottom_layout;
+
+  bool experimentalMode;
+
 protected:
  void paintGL() override;
  void initializeGL() override;
@@ -135,6 +157,9 @@ private:
  QWidget *map = nullptr;
  QHBoxLayout* split;

+  // FrogPilot variables
+  UIScene &scene;
+
 private slots:
  void offroadTransition(bool offroad);
  void primeChanged(bool prime);
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -36,8 +36,12 @@ 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"});
+
+  // FrogPilot variables
+  updateFrogPilotParams();
 }

 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -79,6 +83,9 @@ void Sidebar::updateState(const UIState &s) {
  int strength = (int)deviceState.getNetworkStrength();
  setProperty("netStrength", strength > 0 ? strength + 1 : 0);

+  // FrogPilot properties
+  auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();
+
  ItemStatus connectStatus;
  auto last_ping = deviceState.getLastAthenaPingTime();
  if (last_ping == 0) {
@@ -108,6 +115,10 @@ void Sidebar::updateState(const UIState &s) {
  setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }

+void Sidebar::updateFrogPilotParams() {
+  // Update FrogPilot parameters upon toggle change
+}
+
 void Sidebar::paintEvent(QPaintEvent *event) {
  QPainter p(this);
  p.setPen(Qt::NoPen);
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -18,6 +18,8 @@ class Sidebar : public QFrame {
  Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged);
  Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);

+  // FrogPilot properties
+
 public:
  explicit Sidebar(QWidget* parent = 0);

@@ -29,6 +31,9 @@ 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;
@@ -59,4 +64,7 @@ protected:

 private:
  std::unique_ptr<PubMaster> pm;
+
+  // FrogPilot variables
+  Params params;
 };
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -88,7 +88,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
    }
    QProgressBar::chunk {
      border-radius: 10px;
-      background-color: white;
+      background-color: rgba(23, 134, 68, 255);
    }
  )");

--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -25,7 +25,7 @@ QString getVersion() {
 }

 QString getBrand() {
-  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot");
+  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("FrogPilot");
 }

 QString getUserAgent() {
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -44,6 +44,10 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
  scroller->setScrollerProperties(sp);
 }

+void ScrollView::restorePosition(int previousScrollPosition) {
+  verticalScrollBar()->setValue(previousScrollPosition);
+}
+
 void ScrollView::hideEvent(QHideEvent *e) {
  verticalScrollBar()->setValue(0);
 }
--- a/selfdrive/ui/qt/widgets/scrollview.h
+++ b/selfdrive/ui/qt/widgets/scrollview.h
@@ -7,6 +7,9 @@ class ScrollView : public QScrollArea {

 public:
  explicit ScrollView(QWidget *w = nullptr, QWidget *parent = nullptr);
+
+  // FrogPilot functions
+  void restorePosition(int previousScrollPosition);
 protected:
  void hideEvent(QHideEvent *e) override;
 };
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -22,4 +22,7 @@ private:
  HomeWindow *homeWindow;
  SettingsWindow *settingsWindow;
  OnboardingWindow *onboardingWindow;
+
+  // FrogPilot variables
+  Params params;
 };
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -8,6 +8,7 @@ from typing import Dict, Optional, Tuple
 from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog
@@ -53,6 +54,12 @@ def check_controls_timeout_alert(sm):

 class Soundd:
  def __init__(self):
+    # FrogPilot variables
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
+    self.update_frogpilot_params()
+
    self.load_sounds()

    self.current_alert = AudibleAlert.none
@@ -156,6 +163,11 @@ class Soundd:

        assert stream.active

+    # Update FrogPilot parameters
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
+  def update_frogpilot_params(self):

 def main():
  s = Soundd()
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -13,6 +13,8 @@
 #include "common/watchdog.h"
 #include "system/hardware/hw.h"

+#include "selfdrive/frogpilot/ui/frogpilot_functions.h"
+
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00

@@ -201,6 +203,26 @@ static void update_state(UIState *s) {
  if (sm.updated("carParams")) {
    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
  }
+  if (sm.updated("carState")) {
+    auto carState = sm["carState"].getCarState();
+  }
+  if (sm.updated("controlsState")) {
+    auto controlsState = sm["controlsState"].getControlsState();
+    scene.enabled = controlsState.getEnabled();
+    scene.experimental_mode = controlsState.getExperimentalMode();
+  }
+  if (sm.updated("frogpilotCarControl")) {
+    auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl();
+  }
+  if (sm.updated("frogpilotLateralPlan")) {
+    auto frogpilotLateralPlan = sm["frogpilotLateralPlan"].getFrogpilotLateralPlan();
+  }
+  if (sm.updated("frogpilotLongitudinalPlan")) {
+    auto frogpilotLongitudinalPlan = sm["frogpilotLongitudinalPlan"].getFrogpilotLongitudinalPlan();
+  }
+  if (sm.updated("liveLocationKalman")) {
+    auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
+  }
  if (sm.updated("wideRoadCameraState")) {
    auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
@@ -219,6 +241,9 @@ void ui_update_params(UIState *s) {
  auto params = Params();
  s->scene.is_metric = params.getBool("IsMetric");
  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
+
+  // FrogPilot variables
+  UIScene &scene = s->scene;
 }

 void UIState::updateStatus() {
@@ -249,6 +274,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
+    "frogpilotCarControl", "frogpilotDeviceState", "frogpilotLateralPlan", "frogpilotLongitudinalPlan",
  });

  Params params;
@@ -262,6 +288,8 @@ UIState::UIState(QObject *parent) : QObject(parent) {
  timer = new QTimer(this);
  QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
  timer->start(1000 / UI_FREQ);
+
+  setDefaultParams();
 }

 void UIState::update() {
@@ -273,6 +301,15 @@ void UIState::update() {
    watchdog_kick(nanos_since_boot());
  }
  emit uiUpdate(*this);
+
+  // Update FrogPilot variables when they are changed
+  Params paramsMemory{"/dev/shm/params"};
+  if (paramsMemory.getBool("FrogPilotTogglesUpdated")) {
+    ui_update_params(this);
+    emit uiUpdateFrogPilotParams();
+  }
+
+  // FrogPilot live variables that need to be constantly checked
 }

 void UIState::setPrimeType(PrimeType type) {
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -105,6 +105,8 @@ typedef enum UIStatus {
  STATUS_DISENGAGED,
  STATUS_OVERRIDE,
  STATUS_ENGAGED,
+
+  // FrogPilot statuses
 } UIStatus;

 enum PrimeType {
@@ -121,12 +123,15 @@ const QColor bg_colors [] = {
  [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
  [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
  [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
+
+  // FrogPilot colors
 };

 static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
  {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
  {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
  {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
+  {cereal::ControlsState::AlertStatus::FROGPILOT, QColor(0x17, 0x86, 0x44, 0xf1)},
 };

 typedef struct UIScene {
@@ -160,6 +165,11 @@ typedef struct UIScene {
  bool started, ignition, is_metric, map_on_left, longitudinal_control;
  bool world_objects_visible = false;
  uint64_t started_frame;
+
+  // FrogPilot variables
+  bool enabled;
+  bool experimental_mode;
+
 } UIScene;

 class UIState : public QObject {
@@ -193,6 +203,9 @@ signals:
  void primeChanged(bool prime);
  void primeTypeChanged(PrimeType prime_type);

+  // FrogPilot signals
+  void uiUpdateFrogPilotParams();
+
 private slots:
  void update();