Custom UI

Added toggles to customize the lane lines, path, road edges, path edges, show the acceleration/deceleration on the path, lead info, driving logics, adjacent lanes, blind spot path, fps tracker, and an "Unlimited Length" mode that extends the road UI out as far as the model can see.

cereal/custom.capnp

@@ -13,17 +13,25 @@ struct FrogPilotCarControl @0x81c2f05a394cf4af {
 }
 
 struct FrogPilotDeviceState @0xaedffd8f31e7b55d {
+  freeSpace @0 :Int16;
+  usedSpace @1 :Int16;
 }
 
 enum FrogPilotEvents @0xf35cc4560bbf6ec2 {
 }
 
 struct FrogPilotLateralPlan @0xda96579883444c35 {
+  laneWidthLeft @0 :Float32;
+  laneWidthRight @1 :Float32;
 }
 
 struct FrogPilotLongitudinalPlan @0x80ae746ee2596b11 {
   conditionalExperimental @1 :Bool;
+  desiredFollowDistance @2 :Int16;
   distances @3 :List(Float32);
+  safeObstacleDistance @5 :Int16;
+  safeObstacleDistanceStock @6 :Int16;
+  stoppedEquivalenceFactor @11 :Int16;
 }
 
 struct FrogPilotNavigation @0xa5cd762cd951a455 {

common/params.cc

@@ -212,7 +212,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WheeledBody", PERSISTENT},
 
     // FrogPilot parameters
+    {"AccelerationPath", PERSISTENT},
     {"AccelerationProfile", PERSISTENT},
+    {"AdjacentPath", PERSISTENT},
     {"AggressiveAcceleration", PERSISTENT},
     {"AggressiveFollow", PERSISTENT},
     {"AggressiveJerk", PERSISTENT},
@@ -220,6 +222,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AlwaysOnLateralMain", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"AverageCurvature", PERSISTENT},
+    {"BlindSpotPath", PERSISTENT},
+    {"CameraFPS", PERSISTENT},
     {"CameraView", PERSISTENT},
     {"CECurves", PERSISTENT},
     {"CECurvesLead", PERSISTENT},
@@ -233,18 +237,34 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStopLightsLead", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
     {"CustomPersonalities", PERSISTENT},
+    {"CustomUI", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"GasRegenCmd", PERSISTENT},
+    {"LaneLinesWidth", PERSISTENT},
     {"LateralTune", PERSISTENT},
+    {"LeadInfo", PERSISTENT},
     {"LongitudinalTune", PERSISTENT},
+    {"ModelUI", PERSISTENT},
     {"OfflineMode", PERSISTENT},
+    {"PathEdgeWidth", PERSISTENT},
+    {"PathWidth", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
     {"RelaxedJerk", PERSISTENT},
+    {"RoadEdgesWidth", PERSISTENT},
+    {"ShowCPU", PERSISTENT},
+    {"ShowFPS", PERSISTENT},
+    {"ShowGPU", PERSISTENT},
+    {"ShowMemoryUsage", PERSISTENT},
+    {"ShowStorageLeft", PERSISTENT},
+    {"ShowStorageUsed", PERSISTENT},
     {"StandardFollow", PERSISTENT},
     {"StandardJerk", PERSISTENT},
+    {"UnlimitedLength", PERSISTENT},
     {"Updated", PERSISTENT},
     {"UpdateSchedule", PERSISTENT},
     {"UpdateTime", PERSISTENT},
+    {"UseSI", PERSISTENT},
+    {"WideCamera", PERSISTENT},
 };
 
 } // namespace

selfdrive/controls/lib/desire_helper.py

@@ -2,6 +2,8 @@ from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 
+from openpilot.selfdrive.frogpilot.functions.frogpilot_planner import calculate_lane_width
+
 LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 
@@ -47,6 +49,16 @@ class DesireHelper:
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
+    # Calculate left and right lane widths for the blindspot path
+    turning = abs(carstate.steeringAngleDeg) >= 60
+    if frogpilot_planner.blindspot_path and not below_lane_change_speed and not turning:
+      # Calculate left and right lane widths
+      self.lane_width_left = calculate_lane_width(modeldata.laneLines[0], modeldata.laneLines[1], modeldata.roadEdges[0])
+      self.lane_width_right = calculate_lane_width(modeldata.laneLines[3], modeldata.laneLines[2], modeldata.roadEdges[1])
+    else:
+      self.lane_width_left = 0
+      self.lane_width_right = 0
+
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -366,6 +366,16 @@ class LongitudinalMpc:
       t_follow_offset = np.clip((lead_xv_0[:,1] - v_ego) + (STOP_DISTANCE - v_ego), 1, distance_factor)
       t_follow = t_follow / t_follow_offset
 
+    # LongitudinalPlan variables for onroad driving insights
+    if self.status:
+      self.safe_obstacle_distance = int(np.mean(get_safe_obstacle_distance(v_ego, t_follow)))
+      self.safe_obstacle_distance_stock = int(np.mean(get_safe_obstacle_distance(v_ego, self.t_follow)))
+      self.stopped_equivalence_factor = int(np.mean(get_stopped_equivalence_factor(lead_xv_0[:,1])))
+    else:
+      self.safe_obstacle_distance = 0
+      self.safe_obstacle_distance_stock = 0
+      self.stopped_equivalence_factor = 0
+
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -34,6 +34,19 @@ def get_min_accel_sport_tune(v_ego):
 def get_max_accel_sport_tune(v_ego):
   return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_TUNE)
 
+def calculate_lane_width(lane, current_lane, road_edge):
+  lane_x, lane_y = np.array(lane.x), np.array(lane.y)
+  edge_x, edge_y = np.array(road_edge.x), np.array(road_edge.y)
+  current_x, current_y = np.array(current_lane.x), np.array(current_lane.y)
+
+  lane_y_interp = np.interp(current_x, lane_x[lane_x.argsort()], lane_y[lane_x.argsort()])
+  road_edge_y_interp = np.interp(current_x, edge_x[edge_x.argsort()], edge_y[edge_x.argsort()])
+
+  distance_to_lane = np.mean(np.abs(current_y - lane_y_interp))
+  distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp))
+
+  return min(distance_to_lane, distance_to_road_edge)
+
 
 class FrogPilotPlanner:
   def __init__(self, params):
@@ -80,6 +93,9 @@ class FrogPilotPlanner:
     frogpilot_lateral_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
     frogpilotLateralPlan = frogpilot_lateral_plan_send.frogpilotLateralPlan
 
+    frogpilotLateralPlan.laneWidthLeft = float(DH.lane_width_left)
+    frogpilotLateralPlan.laneWidthRight = float(DH.lane_width_right)
+
     pm.send('frogpilotLateralPlan', frogpilot_lateral_plan_send)
 
   def publish_longitudinal(self, sm, pm, mpc):
@@ -90,11 +106,18 @@ class FrogPilotPlanner:
     frogpilotLongitudinalPlan.conditionalExperimental = self.cem.experimental_mode
     frogpilotLongitudinalPlan.distances = self.x_desired_trajectory.tolist()
 
+    frogpilotLongitudinalPlan.safeObstacleDistance = mpc.safe_obstacle_distance
+    frogpilotLongitudinalPlan.stoppedEquivalenceFactor = mpc.stopped_equivalence_factor
+    frogpilotLongitudinalPlan.desiredFollowDistance = mpc.safe_obstacle_distance - mpc.stopped_equivalence_factor
+    frogpilotLongitudinalPlan.safeObstacleDistanceStock = mpc.safe_obstacle_distance_stock
+
     pm.send('frogpilotLongitudinalPlan', frogpilot_longitudinal_plan_send)
 
   def update_frogpilot_params(self, params):
     self.is_metric = params.get_bool("IsMetric")
 
+    self.blindspot_path = params.get_bool("CustomUI") and params.get_bool("BlindSpotPath")
+
     self.conditional_experimental_mode = params.get_bool("ConditionalExperimental")
     if self.conditional_experimental_mode:
       self.cem.update_frogpilot_params(self.is_metric, params)

selfdrive/frogpilot/ui/visual_settings.cc

@@ -4,6 +4,20 @@
 FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
     {"CameraView", "Camera View", "Choose your preferred camera view for the onroad UI. This is a visual change only and doesn't impact openpilot.", "../frogpilot/assets/toggle_icons/icon_camera.png"},
+
+    {"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
+    {"AdjacentPath", "Adjacent Paths", "Display paths to the left and right of your car, visualizing where the model detects lanes.", ""},
+    {"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
+    {"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.", ""},
+
+    {"ModelUI", "Model UI", "Personalize how the model's visualizations appear on your screen.", "../assets/offroad/icon_calibration.png"},
+    {"AccelerationPath", "Acceleration Path", "Visualize the car's intended acceleration or deceleration with a color-coded path.", ""},
+    {"LaneLinesWidth", "Lane Lines", "Adjust the visual thickness of lane lines on your display.\n\nDefault matches the MUTCD average of 4 inches.", ""},
+    {"PathEdgeWidth", "Path Edges", "Adjust the width of the path edges shown on your UI to represent different driving modes and statuses.\n\nDefault is 20% of the total path.\n\nBlue = Navigation\nLight Blue = Always On Lateral\nGreen = Default with 'FrogPilot Colors'\nLight Green = Default with stock colors\nOrange = Experimental Mode Active\nYellow = Conditional Overriden", ""},
+    {"PathWidth", "Path Width", "Customize the width of the driving path shown on your UI.\n\nDefault matches the width of a 2019 Lexus ES 350.", ""},
+    {"RoadEdgesWidth", "Road Edges", "Adjust the visual thickness of road edges on your display.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.", ""},
+    {"UnlimitedLength", "'Unlimited' Road UI Length", "Extend the display of the path, lane lines, and road edges as far as the system can detect, providing a more expansive view of the road ahead.", ""},
   };
 
   for (const auto &[param, title, desc, icon] : visualToggles) {
@@ -14,6 +28,36 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
       FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions);
       toggle = preferredCamera;
 
+    } else if (param == "CustomUI") {
+      FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end());
+        }
+      });
+      toggle = customUIToggle;
+    } else if (param == "LeadInfo") {
+      std::vector<QString> leadInfoToggles{tr("UseSI")};
+      std::vector<QString> leadInfoToggleNames{tr("Use SI Values")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, leadInfoToggles, leadInfoToggleNames);
+
+    } else if (param == "ModelUI") {
+      FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(modelUIKeys.find(key.c_str()) != modelUIKeys.end());
+        }
+      });
+      toggle = modelUIToggle;
+    } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, std::map<int, QString>(), this, false, " inches");
+    } else if (param == "PathEdgeWidth") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, "%");
+    } else if (param == "PathWidth") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, " feet", 10);
+
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);
     }
@@ -38,9 +82,9 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     });
   }
 
-  customOnroadUIKeys = {};
+  customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo"};
   customThemeKeys = {};
-  modelUIKeys = {};
+  modelUIKeys = {"AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
 
   QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotVisualsPanel::hideSubToggles);
   QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideSubToggles);
@@ -65,12 +109,34 @@ void FrogPilotVisualsPanel::updateMetric() {
   if (isMetric != previousIsMetric) {
     double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
     double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
+    params.putInt("LaneLinesWidth", std::nearbyint(params.getInt("LaneLinesWidth") * distanceConversion));
+    params.putInt("RoadEdgesWidth", std::nearbyint(params.getInt("RoadEdgesWidth") * distanceConversion));
+    params.putInt("PathWidth", std::nearbyint(params.getInt("PathWidth") * speedConversion));
   }
 
+  FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
+  FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
+  FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);
+
   if (isMetric) {
+    laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the Vienna average of 10 centimeters.");
+    roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the Vienna average lane line width of 10 centimeters.");
+
+    laneLinesWidthToggle->updateControl(0, 60, " centimeters");
+    roadEdgesWidthToggle->updateControl(0, 60, " centimeters");
+    pathWidthToggle->updateControl(0, 30, " meters");
   } else {
+    laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the MUTCD average of 4 inches.");
+    roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.");
+
+    laneLinesWidthToggle->updateControl(0, 24, " inches");
+    roadEdgesWidthToggle->updateControl(0, 24, " inches");
+    pathWidthToggle->updateControl(0, 100, " feet");
   }
 
+  laneLinesWidthToggle->refresh();
+  roadEdgesWidthToggle->refresh();
+
   previousIsMetric = isMetric;
 }
 

selfdrive/modeld/fill_model_msg.py

@@ -96,10 +96,28 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
     PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
 
   # lane lines
-  modelV2.init('laneLines', 4)
+  modelV2.init('laneLines', 6)
-  for i in range(4):
+  for i in range(6):
-    lane_line = modelV2.laneLines[i]
+    if i < 4:
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+      lane_line = modelV2.laneLines[i]
+      fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+    else:
+      lane_line = modelV2.laneLines[i]
+      far_lane, near_lane, road_edge = (0, 1, 0) if i == 4 else (3, 2, 1)
+
+      y_min = net_output_data['lane_lines'][0, near_lane,:,0]
+      z_min = net_output_data['lane_lines'][0, near_lane,:,1]
+      lane_diff = np.abs(net_output_data['lane_lines'][0,near_lane] - net_output_data['lane_lines'][0,far_lane])
+      road_edge_diff = np.abs(net_output_data['lane_lines'][0,near_lane] - net_output_data['road_edges'][0,road_edge])
+
+      y_min += np.where(lane_diff[:,0] < road_edge_diff[:,0], net_output_data['lane_lines'][0,far_lane,:,0], net_output_data['road_edges'][0,road_edge,:,0])
+      z_min += np.where(lane_diff[:,1] < road_edge_diff[:,1], net_output_data['lane_lines'][0,far_lane,:,1], net_output_data['road_edges'][0,road_edge,:,1])
+
+      y_min /= 2
+      z_min /= 2
+
+      fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), y_min, z_min)
+
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 

selfdrive/thermald/thermald.py

@@ -21,7 +21,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_TRML
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, TICI, AGNOS
-from openpilot.system.loggerd.config import get_available_percent
+from openpilot.system.loggerd.config import get_available_bytes, get_available_percent, get_used_bytes
 from openpilot.selfdrive.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring
@@ -247,6 +247,9 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     fpmsg = messaging.new_message('frogpilotDeviceState')
 
+    fpmsg.frogpilotDeviceState.freeSpace = round(get_available_bytes(default=32.0 * (2 ** 30)) / (2 ** 30))
+    fpmsg.frogpilotDeviceState.usedSpace = round(get_used_bytes(default=0.0 * (2 ** 30)) / (2 ** 30))
+
     pm.send("frogpilotDeviceState", fpmsg)
 
     msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)

selfdrive/ui/qt/onroad.cc

@@ -153,6 +153,61 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
 
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+
+  // Draw FPS on screen
+  if (scene.show_fps) {
+    constexpr double minAllowedFPS = 0.1;
+    constexpr double maxAllowedFPS = 99.9;
+    constexpr qint64 oneMinuteInMilliseconds = 60000;
+    static double avgFPS;
+    static double maxFPS;
+    static double minFPS;
+    static double totalFPS;
+    static qint64 frameCount;
+
+    // Store the last reset time
+    static qint64 lastResetTime = QDateTime::currentMSecsSinceEpoch();
+    const qint64 currentMillis = QDateTime::currentMSecsSinceEpoch();
+
+    // Reset the counter if it's been 60 seconds
+    if (currentMillis - lastResetTime >= oneMinuteInMilliseconds) {
+      avgFPS = 0;
+      frameCount = 0;
+      minFPS = maxAllowedFPS;
+      maxFPS = minAllowedFPS;
+      totalFPS = 0;
+      lastResetTime = currentMillis;
+    }
+
+    // Update the FPS variables
+    fps = qBound(minAllowedFPS, fps, maxAllowedFPS);
+    minFPS = qMin(minFPS, fps);
+    maxFPS = qMax(maxFPS, fps);
+    frameCount++;
+    totalFPS += fps;
+    avgFPS = totalFPS / frameCount;
+    update();
+
+    // Text declarations
+    p.setFont(InterFont(30, QFont::DemiBold));
+    p.setRenderHint(QPainter::TextAntialiasing);
+    p.setPen(Qt::white);
+
+    // Construct the FPS display string
+    QString fpsDisplayString = QString("FPS: %1 (%2) | Min: %3 | Max: %4 | Avg: %5")
+      .arg(fps, 0, 'f', 2)
+      .arg(paramsMemory.getInt("CameraFPS"))
+      .arg(minFPS, 0, 'f', 2)
+      .arg(maxFPS, 0, 'f', 2)
+      .arg(avgFPS, 0, 'f', 2);
+
+    // Calculate text positioning
+    const QRect currentRect = rect();
+    const int textWidth = p.fontMetrics().horizontalAdvance(fpsDisplayString);
+    const int xPos = (currentRect.width() - textWidth) / 2;
+    const int yPos = currentRect.bottom() - 5;
+    p.drawText(xPos, yPos, fpsDisplayString);
+  }
 }
 
 // ***** onroad widgets *****
@@ -226,7 +281,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
 // ExperimentalButton
 ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent), scene(uiState()->scene) {
-  setFixedSize(btn_size, btn_size);
+  setFixedSize(btn_size, btn_size + 10);
 
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
@@ -243,7 +298,7 @@ void ExperimentalButton::changeMode() {
   }
 }
 
-void ExperimentalButton::updateState(const UIState &s) {
+void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
   const auto cs = (*s.sm)["controlsState"].getControlsState();
   bool eng = cs.getEngageable() || cs.getEnabled();
   if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
@@ -253,12 +308,13 @@ void ExperimentalButton::updateState(const UIState &s) {
   }
 
   // FrogPilot variables
+  y_offset = leadInfo ? 10 : 0;
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   QPixmap img = experimental_mode ? experimental_img : engage_img;
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
 }
 
 
@@ -334,7 +390,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   status = s.status;
 
   // update engageability/experimental mode button
-  experimental_btn->updateState(s);
+  experimental_btn->updateState(s, leadInfo);
 
   // update DM icon
   auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
@@ -504,7 +560,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // paint path
   QLinearGradient bg(0, height(), 0, 0);
-  if (sm["controlsState"].getControlsState().getExperimentalMode()) {
+  if (sm["controlsState"].getControlsState().getExperimentalMode() || accelerationPath) {
     // The first half of track_vertices are the points for the right side of the path
     // and the indices match the positions of accel from uiPlan
     const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
@@ -540,6 +596,97 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices);
 
+  // create new path with track vertices and track edge vertices
+  QPainterPath path;
+  path.addPolygon(scene.track_vertices);
+  path.addPolygon(scene.track_edge_vertices);
+
+  // paint path edges
+  QLinearGradient pe(0, height(), 0, 0);
+  if (alwaysOnLateral) {
+    pe.setColorAt(0.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 1.0));
+    pe.setColorAt(0.5, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.5));
+    pe.setColorAt(1.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.1));
+  } else if (conditionalStatus == 1 || conditionalStatus == 3) {
+    pe.setColorAt(0.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 1.0));
+    pe.setColorAt(0.5, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.5));
+    pe.setColorAt(1.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.1));
+  } else if (experimentalMode) {
+    pe.setColorAt(0.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 1.0));
+    pe.setColorAt(0.5, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.5));
+    pe.setColorAt(1.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.1));
+  } else if (scene.navigate_on_openpilot) {
+    pe.setColorAt(0.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 1.0));
+    pe.setColorAt(0.5, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.5));
+    pe.setColorAt(1.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.1));
+  } else {
+    pe.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 1.0));
+    pe.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.5));
+    pe.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.1));
+  }
+
+  painter.setBrush(pe);
+  painter.drawPath(path);
+
+  // paint blindspot path
+  QLinearGradient bs(0, height(), 0, 0);
+  if (blindSpotLeft || blindSpotRight) {
+    bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
+    bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
+    bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
+  }
+
+  painter.setBrush(bs);
+  if (blindSpotLeft) {
+    painter.drawPolygon(scene.track_adjacent_vertices[4]);
+  }
+  if (blindSpotRight) {
+    painter.drawPolygon(scene.track_adjacent_vertices[5]);
+  }
+
+  // paint adjacent lane paths
+  if (adjacentPath && (laneWidthLeft != 0 || laneWidthRight != 0)) {
+    // Set up the units
+    double conversionFactor = is_metric ? 1.0 : 3.28084;
+    QString unit_d = is_metric ? " meters" : " feet";
+
+    // Declare the lane width thresholds
+    constexpr float minLaneWidth = 2.5f;
+    constexpr float maxLaneWidth = 3.5f;
+
+    // Set gradient colors based on laneWidth and blindspot
+    auto setGradientColors = [](QLinearGradient &gradient, float laneWidth, bool blindspot) {
+      // Make the path red for smaller paths or if there's a car in the blindspot and green for larger paths
+      double hue = (laneWidth < minLaneWidth || blindspot) ? 0.0 :
+                         (laneWidth >= maxLaneWidth) ? 120.0 :
+                          120.0 * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);
+      auto hue_ratio = hue / 360.0;
+      gradient.setColorAt(0.0, QColor::fromHslF(hue_ratio, 0.75, 0.50, 0.6));
+      gradient.setColorAt(0.5, QColor::fromHslF(hue_ratio, 0.75, 0.50, 0.4));
+      gradient.setColorAt(1.0, QColor::fromHslF(hue_ratio, 0.75, 0.50, 0.2));
+    };
+
+    // Paint the lanes
+    auto paintLane = [&](QPainter &painter, const QPolygonF &lane, const float laneWidth, const bool blindspot) {
+      QLinearGradient gradient(0, height(), 0, 0);
+      setGradientColors(gradient, laneWidth, blindspot);
+      painter.setFont(InterFont(30, QFont::DemiBold));
+      painter.setBrush(gradient);
+      painter.setPen(Qt::transparent);
+      painter.drawPolygon(lane);
+      painter.setPen(Qt::white);
+
+      QRectF boundingRect = lane.boundingRect();
+      painter.drawText(boundingRect.center(), blindspot ? "Vehicle in blind spot" :
+                       QString("%1%2").arg(laneWidth * conversionFactor, 0, 'f', 2).arg(unit_d));
+      painter.setPen(Qt::NoPen);
+    };
+
+    // Paint lanes
+    paintLane(painter, scene.track_adjacent_vertices[4], laneWidthLeft, blindSpotLeft);
+    paintLane(painter, scene.track_adjacent_vertices[5], laneWidthRight, blindSpotRight);
+  }
+
   painter.restore();
 }
 
@@ -616,6 +763,47 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
   painter.setBrush(redColor(fillAlpha));
   painter.drawPolygon(chevron, std::size(chevron));
 
+  // Add lead info
+  if (leadInfo) {
+    // Declare the variables
+    QString unit_d = "meters";
+    QString unit_s = "km/h";
+    float distance = d_rel;
+    float lead_speed = std::max(lead_data.getVLead(), 0.0f);  // Ensure speed doesn't go under 0 m/s cause that's dumb
+
+    // Conversion factors and units
+    constexpr float toFeet = 3.28084f;
+    constexpr float toMph = 2.23694f;
+    constexpr float toKmph = 3.6f;
+
+    // Metric speed conversion
+    if (is_metric || useSI) {
+      lead_speed *= toKmph;
+    } else {
+    // US imperial conversion
+      distance *= toFeet;
+      lead_speed *= toMph;
+      unit_d = "feet";
+      unit_s = "mph";
+    }
+
+    // Form the text and center it below the chevron
+    painter.setPen(Qt::white);
+    painter.setFont(InterFont(35, QFont::Bold));
+
+    QString text = QString("%1 %2 | %3 %4")
+                      .arg(distance, 0, 'f', 2, '0')
+                      .arg(unit_d)
+                      .arg(lead_speed, 0, 'f', 2, '0')
+                      .arg(unit_s);
+
+    // Calculate the text starting position
+    QFontMetrics metrics(painter.font());
+    int middle_x = (chevron[2].x() + chevron[0].x()) / 2;
+    int textWidth = metrics.horizontalAdvance(text);
+    painter.drawText(middle_x - textWidth / 2, chevron[0].y() + metrics.height() + 5, text);
+  }
+
   painter.restore();
 }
 
@@ -655,6 +843,7 @@ void AnnotatedCameraWidget::paintGL() {
       // for replay of old routes, never go to widecam
       wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
+    paramsMemory.putBoolNonBlocking("WideCamera", wide_cam_requested);
     CameraWidget::setStreamType(cameraView == 3 ? VISION_STREAM_DRIVER :
                                 wide_cam_requested && cameraView != 1 ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 
@@ -701,7 +890,7 @@ void AnnotatedCameraWidget::paintGL() {
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;
-  double fps = fps_filter.update(1. / dt * 1000);
+  fps = fps_filter.update(1. / dt * 1000);
   if (fps < 15) {
     LOGW("slow frame rate: %.2f fps", fps);
   }
@@ -740,13 +929,29 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
 }
 
 void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
+  accelerationPath = scene.acceleration_path;
+  adjacentPath = scene.adjacent_path;
   alwaysOnLateral = scene.always_on_lateral_active;
+  blindSpotLeft = scene.blind_spot_left;
+  blindSpotRight = scene.blind_spot_right;
   cameraView = scene.camera_view;
   conditionalExperimental = scene.conditional_experimental;
   conditionalSpeed = scene.conditional_speed;
   conditionalSpeedLead = scene.conditional_speed_lead;
   conditionalStatus = scene.conditional_status;
+  desiredFollow = scene.desired_follow;
   experimentalMode = scene.experimental_mode;
+  laneWidthLeft = scene.lane_width_left;
+  laneWidthRight = scene.lane_width_right;
+  leadInfo = scene.lead_info;
+  obstacleDistance = scene.obstacle_distance;
+  obstacleDistanceStock = scene.obstacle_distance_stock;
+  stoppedEquivalence = scene.stopped_equivalence;
+  useSI = scene.use_si;
+
+  if (leadInfo) {
+    drawLeadInfo(p);
+  }
 
   if (alwaysOnLateral || conditionalExperimental) {
     drawStatusBar(p);
@@ -759,6 +964,110 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   }
 }
 
+void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
+  SubMaster &sm = *uiState()->sm;
+
+  // Declare the variables
+  static QElapsedTimer timer;
+  static bool isFiveSecondsPassed = false;
+  constexpr int maxAccelDuration = 5000;
+
+  // Constants for units and conversions
+  QString unit_a = " m/s²";
+  QString unit_d = "meters";
+  QString unit_s = "kmh";
+  float distanceConversion = 1.0f;
+  float speedConversion = 1.0f;
+
+  // Conversion factors and units
+  constexpr float toFeet = 3.28084f;
+  constexpr float toMph = 2.23694f;
+
+  // Metric speed conversion
+  if (!(is_metric || useSI)) {
+    // US imperial conversion
+    unit_a = " ft/s²";
+    unit_d = "feet";
+    unit_s = "mph";
+    distanceConversion = toFeet;
+    speedConversion = toMph;
+  }
+
+  // Update acceleration
+  double currentAcceleration = std::round(sm["carState"].getCarState().getAEgo() * 100) / 100;
+  static double maxAcceleration = 0.0;
+
+  if (currentAcceleration > maxAcceleration && status == STATUS_ENGAGED) {
+    maxAcceleration = currentAcceleration;
+    isFiveSecondsPassed = false;
+    timer.start();
+  } else {
+    isFiveSecondsPassed = timer.hasExpired(maxAccelDuration);
+  }
+
+  // Construct text segments
+  auto createText = [&](const QString &title, const double data) {
+    return title + QString::number(std::round(data * distanceConversion)) + " " + unit_d;
+  };
+
+  // Create segments for insights
+  QString accelText = QString("Accel: %1%2")
+    .arg(currentAcceleration * speedConversion, 0, 'f', 2)
+    .arg(unit_a);
+
+  QString maxAccSuffix = QString(" - Max: %1%2")
+    .arg(maxAcceleration * speedConversion, 0, 'f', 2)
+    .arg(unit_a);
+
+  QString obstacleText = createText("  |  Obstacle Factor: ", obstacleDistance);
+  QString stopText = createText("  -  Stop Factor: ", stoppedEquivalence);
+  QString followText = " = " + createText("Follow Distance: ", desiredFollow);
+
+  // Check if the longitudinal toggles have an impact on the driving logics
+  auto createDiffText = [&](const double data, const double stockData) {
+    double difference = std::round((data - stockData) * distanceConversion);
+    return difference != 0 ? QString(" (%1%2)").arg(difference > 0 ? "+" : "").arg(difference) : QString();
+  };
+
+  // Prepare rectangle for insights
+  p.save();
+  QRect insightsRect(rect().left() - 1, rect().top() - 60, rect().width() + 2, 100);
+  p.setBrush(QColor(0, 0, 0, 150));
+  p.drawRoundedRect(insightsRect, 30, 30);
+  p.setFont(InterFont(30, QFont::DemiBold));
+  p.setRenderHint(QPainter::TextAntialiasing);
+
+  // Calculate positioning for text drawing
+  QRect adjustedRect = insightsRect.adjusted(0, 27, 0, 27);
+  int textBaseLine = adjustedRect.y() + (adjustedRect.height() + p.fontMetrics().height()) / 2 - p.fontMetrics().descent();
+
+  // Calculate the entire text width to ensure perfect centering
+  int totalTextWidth = p.fontMetrics().horizontalAdvance(accelText)
+                           + p.fontMetrics().horizontalAdvance(maxAccSuffix)
+                           + p.fontMetrics().horizontalAdvance(obstacleText)
+                           + p.fontMetrics().horizontalAdvance(createDiffText(obstacleDistance, obstacleDistanceStock))
+                           + p.fontMetrics().horizontalAdvance(stopText)
+                           + p.fontMetrics().horizontalAdvance(followText);
+
+  int textStartPos = adjustedRect.x() + (adjustedRect.width() - totalTextWidth) / 2;
+
+  // Draw the text
+  auto drawText = [&](const QString &text, const QColor color) {
+    p.setPen(color);
+    p.drawText(textStartPos, textBaseLine, text);
+    textStartPos += p.fontMetrics().horizontalAdvance(text);
+  };
+
+  drawText(accelText, Qt::white);
+  drawText(maxAccSuffix, isFiveSecondsPassed ? Qt::white : Qt::red);
+  drawText(obstacleText, Qt::white);
+  drawText(createDiffText(obstacleDistance, obstacleDistanceStock), (obstacleDistance - obstacleDistanceStock) > 0 ? Qt::green : Qt::red);
+  drawText(stopText, Qt::white);
+  drawText(followText, Qt::white);
+
+  p.restore();
+}
+
 void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.save();
 

selfdrive/ui/qt/onroad.h

@@ -2,6 +2,7 @@
 
 #include <memory>
 
+#include <QElapsedTimer>
 #include <QPushButton>
 #include <QStackedLayout>
 #include <QWidget>
@@ -15,6 +16,7 @@ const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
 
 // FrogPilot global variables
+static double fps;
 
 // ***** onroad widgets *****
 class OnroadAlerts : public QWidget {
@@ -40,7 +42,7 @@ class ExperimentalButton : public QPushButton {
 
 public:
   explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s);
+  void updateState(const UIState &s, bool leadInfo);
 
 private:
   void paintEvent(QPaintEvent *event) override;
@@ -54,6 +56,8 @@ private:
 
   // FrogPilot variables
   UIScene &scene;
+
+  int y_offset;
 };
 
 
@@ -106,6 +110,7 @@ private:
   bool wide_cam_requested = false;
 
   // FrogPilot widgets
+  void drawLeadInfo(QPainter &p);
   void drawStatusBar(QPainter &p);
   void initializeFrogPilotWidgets();
   void updateFrogPilotWidgets(QPainter &p);
@@ -117,13 +122,26 @@ private:
 
   QHBoxLayout *bottom_layout;
 
+  bool accelerationPath;
+  bool adjacentPath;
   bool alwaysOnLateral;
+  bool blindSpotLeft;
+  bool blindSpotRight;
   bool conditionalExperimental;
   bool experimentalMode;
+  bool leadInfo;
+  bool useSI;
+  double maxAcceleration;
+  float laneWidthLeft;
+  float laneWidthRight;
   int cameraView;
   int conditionalSpeed;
   int conditionalSpeedLead;
   int conditionalStatus;
+  int desiredFollow;
+  int obstacleDistance;
+  int obstacleDistanceStock;
+  int stoppedEquivalence;
 
 protected:
   void paintGL() override;

selfdrive/ui/qt/sidebar.cc

@@ -41,11 +41,42 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
 
   // FrogPilot variables
+  isCPU = params.getBool("ShowCPU");
+  isGPU = params.getBool("ShowGPU");
+
+  isMemoryUsage = params.getBool("ShowMemoryUsage");
+  isStorageLeft = params.getBool("ShowStorageLeft");
+  isStorageUsed = params.getBool("ShowStorageUsed");
+
   updateFrogPilotParams();
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
-  if (onroad && home_btn.contains(event->pos())) {
+  // Declare the click boxes
+  QRect cpuRect = {30, 496, 240, 126};
+  QRect memoryRect = {30, 654, 240, 126};
+
+  static int showChip = 0;
+  static int showMemory = 0;
+
+  // Swap between the respective metrics upon tap
+  if (cpuRect.contains(event->pos())) {
+    showChip = (showChip + 1) % 3;
+    isCPU = (showChip == 1);
+    isGPU = (showChip == 2);
+    params.putBoolNonBlocking("ShowCPU", isCPU);
+    params.putBoolNonBlocking("ShowGPU", isGPU);
+    update();
+  } else if (memoryRect.contains(event->pos())) {
+    showMemory = (showMemory + 1) % 4;
+    isMemoryUsage = (showMemory == 1);
+    isStorageLeft = (showMemory == 2);
+    isStorageUsed = (showMemory == 3);
+    params.putBoolNonBlocking("ShowMemoryUsage", isMemoryUsage);
+    params.putBoolNonBlocking("ShowStorageLeft", isStorageLeft);
+    params.putBoolNonBlocking("ShowStorageUsed", isStorageUsed);
+    update();
+  } else if (onroad && home_btn.contains(event->pos())) {
     flag_pressed = true;
     update();
   } else if (settings_btn.contains(event->pos())) {
@@ -86,6 +117,54 @@ void Sidebar::updateState(const UIState &s) {
   // FrogPilot properties
   auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();
 
+  // FrogPilot metrics
+  if (isCPU || isGPU) {
+    auto cpu_loads = deviceState.getCpuUsagePercent();
+    int cpu_usage = std::accumulate(cpu_loads.begin(), cpu_loads.end(), 0) / cpu_loads.size();
+    int gpu_usage = deviceState.getGpuUsagePercent();
+
+    QString cpu = QString::number(cpu_usage) + "%";
+    QString gpu = QString::number(gpu_usage) + "%";
+
+    QString metric = isGPU ? gpu : cpu;
+    int usage = isGPU ? gpu_usage : cpu_usage;
+
+    ItemStatus cpuStatus = {{tr(isGPU ? "GPU" : "CPU"), metric}, good_color};
+    if (usage >= 85) {
+      cpuStatus = {{tr(isGPU ? "GPU" : "CPU"), metric}, danger_color};
+    } else if (usage >= 70) {
+      cpuStatus = {{tr(isGPU ? "GPU" : "CPU"), metric}, warning_color};
+    }
+    setProperty("cpuStatus", QVariant::fromValue(cpuStatus));
+  }
+
+  if (isMemoryUsage || isStorageLeft || isStorageUsed) {
+    int memory_usage = deviceState.getMemoryUsagePercent();
+    int storage_left = frogpilotDeviceState.getFreeSpace();
+    int storage_used = frogpilotDeviceState.getUsedSpace();
+
+    QString memory = QString::number(memory_usage) + "%";
+    QString storage = QString::number(isStorageLeft ? storage_left : storage_used) + " GB";
+
+    if (isMemoryUsage) {
+      ItemStatus memoryStatus = {{tr("MEMORY"), memory}, good_color};
+      if (memory_usage >= 85) {
+        memoryStatus = {{tr("MEMORY"), memory}, danger_color};
+      } else if (memory_usage >= 70) {
+        memoryStatus = {{tr("MEMORY"), memory}, warning_color};
+      }
+      setProperty("memoryStatus", QVariant::fromValue(memoryStatus));
+    } else {
+      ItemStatus storageStatus = {{tr(isStorageLeft ? "LEFT" : "USED"), storage}, good_color};
+      if (10 <= storage_left && storage_left < 25) {
+        storageStatus = {{tr(isStorageLeft ? "LEFT" : "USED"), storage}, warning_color};
+      } else if (storage_left < 10) {
+        storageStatus = {{tr(isStorageLeft ? "LEFT" : "USED"), storage}, danger_color};
+      }
+      setProperty("storageStatus", QVariant::fromValue(storageStatus));
+    }
+  }
+
   ItemStatus connectStatus;
   auto last_ping = deviceState.getLastAthenaPingTime();
   if (last_ping == 0) {
@@ -149,6 +228,18 @@ void Sidebar::paintEvent(QPaintEvent *event) {
 
   // metrics
   drawMetric(p, temp_status.first, temp_status.second, 338);
-  drawMetric(p, panda_status.first, panda_status.second, 496);
+
-  drawMetric(p, connect_status.first, connect_status.second, 654);
+  if (isCPU || isGPU) {
+    drawMetric(p, cpu_status.first, cpu_status.second, 496);
+  } else {
+    drawMetric(p, panda_status.first, panda_status.second, 496);
+  }
+
+  if (isMemoryUsage) {
+    drawMetric(p, memory_status.first, memory_status.second, 654);
+  } else if (isStorageLeft || isStorageUsed) {
+    drawMetric(p, storage_status.first, storage_status.second, 654);
+  } else {
+    drawMetric(p, connect_status.first, connect_status.second, 654);
+  }
 }

selfdrive/ui/qt/sidebar.h

@@ -19,6 +19,9 @@ class Sidebar : public QFrame {
   Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
 
   // FrogPilot properties
+  Q_PROPERTY(ItemStatus cpuStatus MEMBER cpu_status NOTIFY valueChanged)
+  Q_PROPERTY(ItemStatus memoryStatus MEMBER memory_status NOTIFY valueChanged)
+  Q_PROPERTY(ItemStatus storageStatus MEMBER storage_status NOTIFY valueChanged)
 
 public:
   explicit Sidebar(QWidget* parent = 0);
@@ -67,4 +70,12 @@ private:
 
   // FrogPilot variables
   Params params;
+
+  ItemStatus cpu_status, memory_status, storage_status;
+
+  bool isCPU;
+  bool isGPU;
+  bool isMemoryUsage;
+  bool isStorageLeft;
+  bool isStorageUsed;
 };

selfdrive/ui/ui.cc

@@ -89,7 +89,8 @@ void update_model(UIState *s,
   if (plan_position.getX().size() < model.getPosition().getX().size()) {
     plan_position = model.getPosition();
   }
-  float max_distance = std::clamp(*(plan_position.getX().end() - 1),
+  float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
+                       std::clamp(*(plan_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
 
   // update lane lines
@@ -98,7 +99,7 @@ void update_model(UIState *s,
   int max_idx = get_path_length_idx(lane_lines[0], max_distance);
   for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
     scene.lane_line_probs[i] = lane_line_probs[i];
-    update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
+    update_line_data(s, lane_lines[i], scene.model_ui ? scene.lane_line_width * scene.lane_line_probs[i] : 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
   }
 
   // update road edges
@@ -106,7 +107,7 @@ void update_model(UIState *s,
   const auto road_edge_stds = model.getRoadEdgeStds();
   for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
     scene.road_edge_stds[i] = road_edge_stds[i];
-    update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
+    update_line_data(s, road_edges[i], scene.model_ui ? scene.road_edge_width : 0.025, 0, &scene.road_edge_vertices[i], max_idx);
   }
 
   // update path
@@ -116,7 +117,15 @@ void update_model(UIState *s,
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
   max_idx = get_path_length_idx(plan_position, max_distance);
-  update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
+  update_line_data(s, plan_position, scene.model_ui ? scene.path_width * (1 - scene.path_edge_width / 100) : 0.9, 1.22, &scene.track_vertices, max_idx, false);
+
+  // update path edges
+  update_line_data(s, plan_position, scene.model_ui ? scene.path_width : 0, 1.22, &scene.track_edge_vertices, max_idx, false);
+
+  // update adjacent paths
+  for (int i = 4; i <= 5; i++) {
+    update_line_data(s, lane_lines[i], scene.blind_spot_path ? (i == 4 ? scene.lane_width_left : scene.lane_width_right) / 2 : 0, 0, &scene.track_adjacent_vertices[i], max_idx);
+  }
 }
 
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -205,6 +214,10 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("carState")) {
     auto carState = sm["carState"].getCarState();
+    if (scene.blind_spot_path) {
+      scene.blind_spot_left = carState.getLeftBlindspot();
+      scene.blind_spot_right = carState.getRightBlindspot();
+    }
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -219,9 +232,19 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotLateralPlan")) {
     auto frogpilotLateralPlan = sm["frogpilotLateralPlan"].getFrogpilotLateralPlan();
+    if (scene.blind_spot_path) {
+      scene.lane_width_left = frogpilotLateralPlan.getLaneWidthLeft();
+      scene.lane_width_right = frogpilotLateralPlan.getLaneWidthRight();
+    }
   }
   if (sm.updated("frogpilotLongitudinalPlan")) {
     auto frogpilotLongitudinalPlan = sm["frogpilotLongitudinalPlan"].getFrogpilotLongitudinalPlan();
+    if (scene.lead_info) {
+      scene.desired_follow = frogpilotLongitudinalPlan.getDesiredFollowDistance();
+      scene.obstacle_distance = frogpilotLongitudinalPlan.getSafeObstacleDistance();
+      scene.obstacle_distance_stock = frogpilotLongitudinalPlan.getSafeObstacleDistanceStock();
+      scene.stopped_equivalence = frogpilotLongitudinalPlan.getStoppedEquivalenceFactor();
+    }
   }
   if (sm.updated("liveLocationKalman")) {
     auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
@@ -254,6 +277,21 @@ void ui_update_params(UIState *s) {
   scene.conditional_experimental = params.getBool("ConditionalExperimental");
   scene.conditional_speed = params.getInt("CESpeed");
   scene.conditional_speed_lead = params.getInt("CESpeedLead");
+
+  scene.custom_onroad_ui = params.getBool("CustomUI");
+  scene.adjacent_path = scene.custom_onroad_ui && params.getBool("AdjacentPath");
+  scene.blind_spot_path = scene.custom_onroad_ui && params.getBool("BlindSpotPath");
+  scene.lead_info = scene.custom_onroad_ui && params.getBool("LeadInfo");
+  scene.show_fps = scene.custom_onroad_ui && params.getBool("ShowFPS");
+  scene.use_si = scene.custom_onroad_ui && params.getBool("UseSI");
+
+  scene.model_ui = params.getBool("ModelUI");
+  scene.acceleration_path = scene.model_ui && params.getBool("AccelerationPath");
+  scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1 : INCH_TO_CM) / 200;
+  scene.path_edge_width = params.getInt("PathEdgeWidth");
+  scene.path_width = params.getInt("PathWidth") / 10.0 * (scene.is_metric ? 1 : FOOT_TO_METER) / 2;
+  scene.road_edge_width = params.getInt("RoadEdgesWidth") * (scene.is_metric ? 1 : INCH_TO_CM) / 200;
+  scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
 }
 
 void UIState::updateStatus() {

selfdrive/ui/ui.h

@@ -169,15 +169,38 @@ typedef struct UIScene {
   uint64_t started_frame;
 
   // FrogPilot variables
+  bool acceleration_path;
+  bool adjacent_path;
   bool always_on_lateral;
   bool always_on_lateral_active;
+  bool blind_spot_left;
+  bool blind_spot_path;
+  bool blind_spot_right;
   bool conditional_experimental;
+  bool custom_onroad_ui;
   bool enabled;
   bool experimental_mode;
+  bool lead_info;
+  bool model_ui;
+  bool show_fps;
+  bool unlimited_road_ui_length;
+  bool use_si;
+  float lane_line_width;
+  float lane_width_left;
+  float lane_width_right;
+  float path_edge_width;
+  float path_width;
+  float road_edge_width;
   int camera_view;
   int conditional_speed;
   int conditional_speed_lead;
   int conditional_status;
+  int desired_follow;
+  int obstacle_distance;
+  int obstacle_distance_stock;
+  int stopped_equivalence;
+  QPolygonF track_adjacent_vertices[6];
+  QPolygonF track_edge_vertices;
 
 } UIScene;
 

system/camerad/cameras/camera_qcom2.cc

@@ -935,6 +935,10 @@ void cameras_run(MultiCameraState *s) {
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
 
+  bool wide_camera_displayed = paramsMemory.getBool("WideCamera");
+  static int frame_count = 0;
+  static int fps = 0.0;
+
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
   if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
@@ -947,9 +951,22 @@ void cameras_run(MultiCameraState *s) {
   s->road_cam.sensors_start();
   s->wide_road_cam.sensors_start();
 
+  auto prev_time_point = std::chrono::high_resolution_clock::now();
+
   // poll events
   LOG("-- Dequeueing Video events");
   while (!do_exit) {
+
+    auto current_time_point = std::chrono::high_resolution_clock::now();
+    double elapsed_time = std::chrono::duration<double>(current_time_point - prev_time_point).count();
+
+    if (elapsed_time > 1.0) {
+      fps = frame_count / elapsed_time;
+      paramsMemory.putIntNonBlocking("CameraFPS", fps);
+      frame_count = 0;
+      prev_time_point = current_time_point;
+    }
+
     struct pollfd fds[1] = {{0}};
 
     fds[0].fd = s->video0_fd;
@@ -979,8 +996,14 @@ void cameras_run(MultiCameraState *s) {
 
         if (event_data->session_hdl == s->road_cam.session_handle) {
           s->road_cam.handle_camera_event(event_data);
+          if (!wide_camera_displayed) {
+            frame_count++;
+          }
         } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
           s->wide_road_cam.handle_camera_event(event_data);
+          if (wide_camera_displayed) {
+            frame_count++;
+          }
         } else if (event_data->session_hdl == s->driver_cam.session_handle) {
           s->driver_cam.handle_camera_event(event_data);
         } else {

system/loggerd/config.py

@@ -27,3 +27,14 @@ def get_available_bytes(default=None):
     available_bytes = default
 
   return available_bytes
+
+def get_used_bytes(default=None):
+  try:
+    statvfs = os.statvfs(Paths.log_root())
+    total_bytes = statvfs.f_blocks * statvfs.f_frsize
+    available_bytes = statvfs.f_bavail * statvfs.f_frsize
+    used_bytes = total_bytes - available_bytes
+  except OSError:
+    used_bytes = default
+
+  return used_bytes