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https://github.com/MoreTore/openpilot.git
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FrogPilot variables
This commit is contained in:
James
@@ -133,4 +133,359 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"Version", {PERSISTENT, STRING}},
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// FrogPilot variables
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{"AccelerationPath", {PERSISTENT, BOOL, "1", "0", 2}},
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{"AccelerationProfile", {PERSISTENT, INT, "2", "0", 0}},
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{"AdjacentLeadsUI", {PERSISTENT, BOOL, "1", "0", 3}},
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{"AdjacentPath", {PERSISTENT, BOOL, "0", "0", 3}},
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{"AdjacentPathMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
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{"AdvancedCustomUI", {PERSISTENT, BOOL, "0", "0", 2}},
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{"AdvancedLateralTune", {PERSISTENT, BOOL, "0", "0", 3}},
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{"AdvancedLongitudinalTune", {PERSISTENT, BOOL, "0", "0", 3}},
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{"AggressiveFollow", {PERSISTENT, FLOAT, "1.25", "1.25", 2}},
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{"AggressiveJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
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{"AggressiveJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
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{"AggressiveJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
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{"AggressiveJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
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{"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
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{"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2}},
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{"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0}},
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{"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
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{"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
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{"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
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{"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
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{"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
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{"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
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{"BlacklistedModels", {PERSISTENT, STRING, "", "", 2}},
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{"BlindSpotMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
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{"BlindSpotPath", {PERSISTENT, BOOL, "1", "0", 1}},
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{"BorderMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
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{"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
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{"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
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{"CameraView", {PERSISTENT, INT, "3", "0", 2}},
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{"CancelModelDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"CancelThemeDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"CarMake", {PERSISTENT, STRING, "mock", "mock", 0}},
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{"CarModel", {PERSISTENT, STRING, "MOCK", "MOCK", 0}},
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{"CarModelName", {PERSISTENT, STRING, "", "", 0}},
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{"CECurves", {PERSISTENT, BOOL, "0", "0", 1}},
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{"CECurvesLead", {PERSISTENT, BOOL, "0", "0", 1}},
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{"CELead", {PERSISTENT, BOOL, "0", "0", 1}},
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{"CEModelStopTime", {PERSISTENT, FLOAT, "8.0", "0.0", 2}},
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{"CESignalLaneDetection", {PERSISTENT, BOOL, "1", "0", 2}},
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{"CESignalSpeed", {PERSISTENT, FLOAT, "55.0", "0.0", 2}},
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{"CESlowerLead", {PERSISTENT, BOOL, "0", "0", 1}},
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{"CESpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
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{"CESpeedLead", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
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{"CEStatus", {CLEAR_ON_OFFROAD_TRANSITION, INT, "0", "0"}},
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{"CEStopLights", {PERSISTENT, BOOL, "1", "0", 1}},
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{"CEStoppedLead", {PERSISTENT, BOOL, "0", "0", 1}},
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{"ClusterOffset", {PERSISTENT, FLOAT, "1.015", "1.015", 2}},
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{"ColorScheme", {PERSISTENT, STRING, "frog", "stock", 0}},
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{"ColorToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"Compass", {PERSISTENT, BOOL, "0", "0", 1}},
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{"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1}},
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{"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
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{"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
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{"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0}},
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{"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
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{"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2}},
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{"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
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{"CustomThemes", {PERSISTENT, BOOL, "1", "0", 0}},
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{"CustomUI", {PERSISTENT, BOOL, "1", "0", 1}},
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{"DebugMode", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
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{"DecelerationProfile", {PERSISTENT, INT, "1", "0", 2}},
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{"DeveloperMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
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{"DeveloperSidebar", {PERSISTENT, BOOL, "1", "0", 3}},
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{"DeveloperSidebarMetric1", {PERSISTENT, INT, "1", "0", 3}},
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{"DeveloperSidebarMetric2", {PERSISTENT, INT, "2", "0", 3}},
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{"DeveloperSidebarMetric3", {PERSISTENT, INT, "3", "0", 3}},
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{"DeveloperSidebarMetric4", {PERSISTENT, INT, "4", "0", 3}},
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{"DeveloperSidebarMetric5", {PERSISTENT, INT, "5", "0", 3}},
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{"DeveloperSidebarMetric6", {PERSISTENT, INT, "6", "0", 3}},
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{"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
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{"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
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{"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
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{"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1}},
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{"DeviceShutdown", {PERSISTENT, INT, "9", "33", 1}},
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{"DisableOnroadUploads", {PERSISTENT, BOOL, "0", "0", 2}},
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{"DisableOpenpilotLongitudinal", {PERSISTENT, BOOL, "0", "0", 0}},
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{"DiscordUsername", {PERSISTENT, STRING, "", "", 0}},
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{"DistanceButtonControl", {PERSISTENT, INT, "1", "0", 2}},
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{"DistanceIconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
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{"DistanceIconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"DisengageVolume", {PERSISTENT, INT, "101", "101", 2}},
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{"DownloadableColors", {PERSISTENT, STRING, "", ""}},
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{"DownloadableDistanceIcons", {PERSISTENT, STRING, "", ""}},
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{"DownloadableIcons", {PERSISTENT, STRING, "", ""}},
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{"DownloadableSignals", {PERSISTENT, STRING, "", ""}},
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{"DownloadableSounds", {PERSISTENT, STRING, "", ""}},
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{"DownloadableWheels", {PERSISTENT, STRING, "", ""}},
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{"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1}},
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{"DrivingModel", {PERSISTENT, STRING, "wmi-model_default", "wmi-model_default", 1}},
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{"DrivingModelName", {PERSISTENT, STRING, "WMI model (Default)", "WMI model (Default)", 1}},
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{"DrivingModelVersion", {PERSISTENT, STRING, "v9", "v9", 1}},
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{"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2}},
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{"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1}},
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{"EngageVolume", {PERSISTENT, INT, "101", "101", 2}},
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{"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
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{"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"ForceAutoTune", {PERSISTENT, BOOL, "0", "0", 3}},
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{"ForceAutoTuneOff", {PERSISTENT, BOOL, "0", "0", 3}},
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{"ForceFingerprint", {PERSISTENT, BOOL, "0", "0", 2}},
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{"ForceOffroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"ForceOnroad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"ForceStops", {PERSISTENT, BOOL, "0", "0", 2}},
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{"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
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{"FPSCounter", {PERSISTENT, BOOL, "1", "0", 3}},
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{"FrogPilotCarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES, "", ""}},
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{"FrogPilotCarParamsPersistent", {PERSISTENT, BYTES, "", ""}},
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{"FrogPilotDongleId", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
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{"FrogPilotStats", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
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{"FrogPilotTogglesUpdated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"FrogsGoMoosTweak", {PERSISTENT, BOOL, "1", "0", 2}},
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{"GoatScream", {PERSISTENT, BOOL, "0", "0", 1}},
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{"GreenLightAlert", {PERSISTENT, BOOL, "0", "0", 0}},
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{"HideAlerts", {PERSISTENT, BOOL, "0", "0", 2}},
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{"HideLeadMarker", {PERSISTENT, BOOL, "0", "0", 2}},
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{"HideMaxSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
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{"HideSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
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{"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2}},
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{"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2}},
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{"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
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{"HumanAcceleration", {PERSISTENT, BOOL, "1", "0", 2}},
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{"HumanFollowing", {PERSISTENT, BOOL, "1", "0", 2}},
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{"HumanLaneChanges", {PERSISTENT, BOOL, "1", "0", 2}},
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{"IconPack", {PERSISTENT, STRING, "frog-animated", "stock", 0}},
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{"IconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"IncreasedStoppedDistance", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
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{"IncreasedStoppedDistanceLowVisibility", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreasedStoppedDistanceRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreasedStoppedDistanceRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreasedStoppedDistanceSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreaseFollowingLowVisibility", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreaseFollowingRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreaseFollowingRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreaseFollowingSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"IncreaseThermalLimits", {PERSISTENT, BOOL, "0", "0", 2}},
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{"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
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{"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
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{"KonikMinutes", {PERSISTENT, INT, "0", "0", 0}},
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{"LaneChanges", {PERSISTENT, BOOL, "1", "1", 0}},
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{"LaneChangeTime", {PERSISTENT, FLOAT, "1.0", "0.0", 1}},
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{"LaneDetectionWidth", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
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{"LaneLinesWidth", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
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{"LastMapsUpdate", {PERSISTENT, STRING, "", ""}},
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{"LateralTune", {PERSISTENT, BOOL, "1", "0", 1}},
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{"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0}},
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{"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
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{"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
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{"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2}},
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{"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
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{"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
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{"LongDistanceButtonControl", {PERSISTENT, INT, "5", "0", 2}},
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{"LongitudinalActuatorDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
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{"LongitudinalActuatorDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
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{"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
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{"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
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{"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
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{"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"MapAcceleration", {PERSISTENT, BOOL, "0", "0", 1}},
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{"MapboxPublicKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
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{"MapBoxRequests", {PERSISTENT, JSON, "{}", "{}"}},
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{"MapboxSecretKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
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{"MapDeceleration", {PERSISTENT, BOOL, "0", "0", 1}},
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{"MapdLogLevel", {CLEAR_ON_MANAGER_START, STRING, "0", "0"}},
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{"MapGears", {PERSISTENT, BOOL, "0", "0", 2}},
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{"MapsSelected", {PERSISTENT, JSON, "{}", "{}", 0}},
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{"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
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{"MaxDesiredAcceleration", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
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{"MinimumBackupSize", {PERSISTENT, INT, "0", "0"}},
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{"MinimumLaneChangeSpeed", {PERSISTENT, FLOAT, "20.0", "20.0", 2}},
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{"ModelDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"ModelDrivesAndScores", {PERSISTENT, JSON, "{}", "{}"}},
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{"ModelRandomizer", {PERSISTENT, BOOL, "0", "0", 2}},
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{"ModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"ModelUI", {PERSISTENT, BOOL, "1", "0", 2}},
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{"NavigationUI", {PERSISTENT, BOOL, "1", "0", 1}},
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{"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
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{"NNFF", {PERSISTENT, BOOL, "1", "0", 2}},
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{"NNFFLite", {PERSISTENT, BOOL, "1", "0", 2}},
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{"NNFFModelName", {CLEAR_ON_MANAGER_START, STRING, "", "", 0}},
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{"NoLogging", {PERSISTENT, BOOL, "0", "0", 2}},
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{"NoUploads", {PERSISTENT, BOOL, "0", "0", 2}},
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{"NudgelessLaneChange", {PERSISTENT, BOOL, "1", "0", 0}},
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{"NumericalTemp", {PERSISTENT, BOOL, "1", "0", 3}},
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{"Offset1", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
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{"Offset2", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
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{"Offset3", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
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{"Offset4", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
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{"Offset5", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
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{"Offset6", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
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{"Offset7", {PERSISTENT, FLOAT, "10.0", "0.0", 0}},
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{"OneLaneChange", {PERSISTENT, BOOL, "1", "0", 2}},
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{"OnroadDistanceButton", {PERSISTENT, BOOL, "0", "0", 0}},
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{"OnroadDistanceButtonPressed", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
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{"openpilotMinutes", {PERSISTENT, INT, "0", "0", 0}},
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{"OSMDownloadLocations", {PERSISTENT, JSON, "{}", "{}"}},
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{"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"OverpassRequests", {PERSISTENT, JSON, "{}", "{}"}},
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{"PathEdgeWidth", {PERSISTENT, FLOAT, "20", "0", 2}},
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{"PathWidth", {PERSISTENT, FLOAT, "6.1", "5.9", 2}},
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{"PauseAOLOnBrake", {PERSISTENT, BOOL, "0", "0", 1}},
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{"PauseLateralOnSignal", {PERSISTENT, BOOL, "0", "0", 1}},
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{"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
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{"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
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{"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
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{"PreviousSpeedLimit", {PERSISTENT, FLOAT, "0.0", "0.0"}},
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{"PromptDistractedVolume", {PERSISTENT, INT, "101", "101", 2}},
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{"PromptVolume", {PERSISTENT, INT, "101", "101", 2}},
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{"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1}},
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{"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1}},
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{"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0}},
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{"RadarTracksUI", {PERSISTENT, BOOL, "0", "0", 3}},
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{"RainbowPath", {PERSISTENT, BOOL, "0", "0", 1}},
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{"RandomEvents", {PERSISTENT, BOOL, "0", "0", 1}},
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{"RandomThemes", {PERSISTENT, BOOL, "0", "0", 1}},
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{"RandomThemesHolidays", {PERSISTENT, BOOL, "0", "0", 1}},
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{"ReduceAccelerationLowVisibility", {PERSISTENT, INT, "0", "0", 2}},
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{"ReduceAccelerationRain", {PERSISTENT, INT, "0", "0", 2}},
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{"ReduceAccelerationRainStorm", {PERSISTENT, INT, "0", "0", 2}},
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{"ReduceAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
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{"ReduceLateralAccelerationLowVisibility", {PERSISTENT, INT, "0", "0", 2}},
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{"ReduceLateralAccelerationRain", {PERSISTENT, INT, "0", "0", 2}},
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{"ReduceLateralAccelerationRainStorm", {PERSISTENT, INT, "0", "0", 2}},
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{"ReduceLateralAccelerationSnow", {PERSISTENT, INT, "0", "0", 2}},
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{"RefuseVolume", {PERSISTENT, INT, "101", "101", 2}},
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{"RelaxedFollow", {PERSISTENT, FLOAT, "1.75", "1.75", 2}},
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{"RelaxedJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
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{"RelaxedJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
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{"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
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{"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
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{"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
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{"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1}},
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{"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
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{"RoadName", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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{"RoadNameUI", {PERSISTENT, BOOL, "1", "0", 1}},
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{"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1}},
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{"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2}},
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{"ScreenBrightnessOnroad", {PERSISTENT, INT, "101", "101", 2}},
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{"ScreenManagement", {PERSISTENT, BOOL, "1", "0", 1}},
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{"ScreenRecorder", {PERSISTENT, BOOL, "1", "0", 2}},
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{"ScreenTimeout", {PERSISTENT, INT, "30", "30", 2}},
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{"ScreenTimeoutOnroad", {PERSISTENT, INT, "30", "10", 2}},
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{"SecOCKeys", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
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{"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
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{"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
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{"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2}},
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{"ShowCPU", {PERSISTENT, BOOL, "1", "0", 3}},
|
||||
{"ShowCSCStatus", {PERSISTENT, BOOL, "1", "0", 2}},
|
||||
{"ShowGPU", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"ShowIP", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"ShowMemoryUsage", {PERSISTENT, BOOL, "1", "0", 3}},
|
||||
{"ShownToggleDescriptions", {PERSISTENT, JSON, "{}", "{}"}},
|
||||
{"ShowSLCOffset", {PERSISTENT, BOOL, "1", "0", 0}},
|
||||
{"ShowSpeedLimits", {PERSISTENT, BOOL, "1", "0", 1}},
|
||||
{"ShowSteering", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"ShowStoppingPoint", {PERSISTENT, BOOL, "1", "0", 3}},
|
||||
{"ShowStoppingPointMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
|
||||
{"ShowStorageLeft", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"ShowStorageUsed", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"SidebarMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
|
||||
{"SidebarOpen", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"SignalAnimation", {PERSISTENT, STRING, "frog", "stock", 0}},
|
||||
{"SignalMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"SignalToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
||||
{"SLCConfirmation", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"SLCConfirmationHigher", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"SLCConfirmationLower", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"SLCFallback", {PERSISTENT, INT, "2", "0", 1}},
|
||||
{"SLCLookaheadHigher", {PERSISTENT, INT, "0", "0", 2}},
|
||||
{"SLCLookaheadLower", {PERSISTENT, INT, "0", "0", 2}},
|
||||
{"SLCMapboxFiller", {PERSISTENT, BOOL, "1", "0", 1}},
|
||||
{"SLCOverride", {PERSISTENT, INT, "1", "0", 1}},
|
||||
{"SLCPriority", {PERSISTENT, STRING, "", "", 2}},
|
||||
{"SLCPriority1", {PERSISTENT, STRING, "Map Data", "Map Data", 2}},
|
||||
{"SLCPriority2", {PERSISTENT, STRING, "Dashboard", "Dashboard", 2}},
|
||||
{"SNGHack", {PERSISTENT, BOOL, "1", "0", 2}},
|
||||
{"SoundPack", {PERSISTENT, STRING, "frog", "stock", 0}},
|
||||
{"SoundToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
||||
{"SpeedLimitAccepted", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
||||
{"SpeedLimitChangedAlert", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"SpeedLimitController", {PERSISTENT, BOOL, "1", "0", 0}},
|
||||
{"SpeedLimitFiller", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"SpeedLimits", {PERSISTENT | DONT_LOG, JSON, "[]", "[]"}},
|
||||
{"SpeedLimitsFiltered", {PERSISTENT | DONT_LOG, JSON, "[]", "[]"}},
|
||||
{"SpeedLimitSources", {PERSISTENT, BOOL, "0", "0", 3}},
|
||||
{"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
|
||||
{"StandardJerkAcceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"StandardJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"StandardJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||
{"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"StartupMessageBottom", {PERSISTENT, STRING, "Human-tested, frog-approved 🐸", "Always keep hands on wheel and eyes on road", 0}},
|
||||
{"StartupMessageTop", {PERSISTENT, STRING, "Hop in and buckle up!", "Be ready to take over at any time", 0}},
|
||||
{"StaticPedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||
{"SteerDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerFriction", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerFrictionStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerKP", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerKPStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerLatAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerLatAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerRatio", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SteerRatioStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"StockDongleId", {PERSISTENT, STRING, "", ""}},
|
||||
{"StopAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"StopAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"StoppedTimer", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||
{"StoppingDecelRate", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"StoppingDecelRateStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
|
||||
{"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"TacoTuneHacks", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
||||
{"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},
|
||||
{"ThemeDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
||||
{"ThemesDownloaded", {PERSISTENT, JSON, "{}", "{}"}},
|
||||
{"Timezone", {PERSISTENT, STRING, "", ""}},
|
||||
{"TinygradUpdateAvailable", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||
{"ToyotaDoors", {PERSISTENT, BOOL, "1", "0", 0}},
|
||||
{"TrafficFollow", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
|
||||
{"TrafficJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
|
||||
{"TrafficJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
|
||||
{"TrafficJerkDeceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
|
||||
{"TrafficJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
|
||||
{"TrafficJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
|
||||
{"TuningLevel", {PERSISTENT, INT, "0", "0", 0}},
|
||||
{"TuningLevelConfirmed", {PERSISTENT, BOOL, "0", "0", 0}},
|
||||
{"TurnDesires", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"UnlockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
|
||||
{"Updated", {PERSISTENT, STRING, "0", "0"}},
|
||||
{"UpdateSpeedLimits", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
||||
{"UpdateSpeedLimitsStatus", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
||||
{"UpdateTinygrad", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
||||
{"UpdateWheelImage", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
||||
{"UseActiveTheme", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
|
||||
{"UseKonikServer", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"UseSI", {PERSISTENT, BOOL, "1", "1", 3}},
|
||||
{"UseVienna", {PERSISTENT, BOOL, "0", "0", 1}},
|
||||
{"VEgoStarting", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"VEgoStartingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"VEgoStopping", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"VEgoStoppingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
|
||||
{"VeryLongDistanceButtonControl", {PERSISTENT, INT, "6", "0", 2}},
|
||||
{"VoltSNG", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"WarningImmediateVolume", {PERSISTENT, INT, "101", "101", 2}},
|
||||
{"WarningSoftVolume", {PERSISTENT, INT, "101", "101", 2}},
|
||||
{"WeatherPresets", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"WeatherToken", {PERSISTENT | DONT_LOG, STRING, "", "", 2}},
|
||||
{"WheelControls", {PERSISTENT, STRING, "", "", 2}},
|
||||
{"WheelIcon", {PERSISTENT, STRING, "frog", "stock", 0}},
|
||||
{"WheelSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
|
||||
{"WheelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
|
||||
};
|
||||
|
||||
@@ -12,11 +12,16 @@ from openpilot.common.time_helpers import system_time_valid
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_utilities import run_cmd
|
||||
from openpilot.frogpilot.common.frogpilot_variables import (
|
||||
FrogPilotVariables
|
||||
)
|
||||
|
||||
|
||||
def frogpilot_boot_functions(params):
|
||||
params_memory = Params(memory=True)
|
||||
|
||||
FrogPilotVariables()
|
||||
|
||||
def boot_thread():
|
||||
while not system_time_valid():
|
||||
print("Waiting for system time to become valid...")
|
||||
|
||||
@@ -0,0 +1,499 @@
|
||||
#!/usr/bin/env python3
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
import random
|
||||
|
||||
from functools import cache
|
||||
from pathlib import Path
|
||||
from types import SimpleNamespace
|
||||
|
||||
import cereal.messaging as messaging
|
||||
|
||||
from cereal import car, custom, log
|
||||
from opendbc.car import gen_empty_fingerprint
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.gm.values import GMFlags
|
||||
from opendbc.car.interfaces import CarInterfaceBase, GearShifter
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.subaru.values import SubaruFlags
|
||||
from opendbc.car.toyota.values import ToyotaFrogPilotFlags
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
|
||||
from openpilot.system.version import get_build_metadata
|
||||
|
||||
CITY_SPEED_LIMIT = 25 # 55mph is typically the minimum speed for highways
|
||||
CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive
|
||||
DEFAULT_LATERAL_ACCELERATION = 2.0 # m/s^2, typical lateral acceleration when taking curves
|
||||
DISPLAY_MENU_TIMER = 350 # The length of time the following distance menu appears on some GM vehicles to prevent things getting out of sync
|
||||
EARTH_RADIUS = 6378137 # Radius of the Earth in meters
|
||||
MAX_ACCELERATION = 4.0 # ISO 15622:2018
|
||||
MAX_T_FOLLOW = 3.0 # Maximum allowed following duration. Larger values risk losing track of the lead but may be increased as models improve
|
||||
MINIMUM_LATERAL_ACCELERATION = 1.3 # m/s^2, typical minimum lateral acceleration when taking curves
|
||||
PLANNER_TIME = ModelConstants.T_IDXS[-1] # Length of time the model projects out for
|
||||
THRESHOLD = 1 - 1 / math.e # Requires the condition to be true for ~1 second
|
||||
|
||||
NON_DRIVING_GEARS = [GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown]
|
||||
|
||||
DISCORD_WEBHOOK_URL_REPORT = os.getenv("DISCORD_WEBHOOK_URL_REPORT")
|
||||
DISCORD_WEBHOOK_URL_THEME = os.getenv("DISCORD_WEBHOOK_URL_THEME")
|
||||
|
||||
RESOURCES_REPO = "FrogAi/FrogPilot-Resources"
|
||||
|
||||
ACTIVE_THEME_PATH = Path(BASEDIR) / "frogpilot/assets/active_theme"
|
||||
METADATAS_PATH = Path(BASEDIR) / "frogpilot/assets/model_metadata"
|
||||
MODELS_PATH = Path("/data/models")
|
||||
RANDOM_EVENTS_PATH = Path(BASEDIR) / "frogpilot/assets/random_events"
|
||||
STOCK_THEME_PATH = Path(BASEDIR) / "frogpilot/assets/stock_theme"
|
||||
THEME_COLORS_PATH = (ACTIVE_THEME_PATH / "colors/colors.json")
|
||||
THEME_SAVE_PATH = Path("/data/themes")
|
||||
|
||||
ERROR_LOGS_PATH = Path("/data/error_logs")
|
||||
SCREEN_RECORDINGS_PATH = Path("/data/media/screen_recordings")
|
||||
VIDEO_CACHE_PATH = Path("/data/video_cache")
|
||||
|
||||
BACKUP_PATH = Path("/cache/on_backup")
|
||||
FROGPILOT_BACKUPS = Path("/data/backups")
|
||||
TOGGLE_BACKUPS = Path("/data/toggle_backups")
|
||||
|
||||
MAPD_PATH = Path("/data/media/0/osm/mapd")
|
||||
MAPS_PATH = Path("/data/media/0/osm/offline")
|
||||
|
||||
BUTTON_FUNCTIONS = {
|
||||
"NOTHING": 0,
|
||||
"PERSONALITY_PROFILE": 1,
|
||||
"FORCE_COAST": 2,
|
||||
"PAUSE_LATERAL": 3,
|
||||
"PAUSE_LONGITUDINAL": 4,
|
||||
"EXPERIMENTAL_MODE": 5,
|
||||
"TRAFFIC_MODE": 6
|
||||
}
|
||||
|
||||
EXCLUDED_KEYS = {
|
||||
"AvailableModelNames",
|
||||
"AvailableModels",
|
||||
"CalibratedLateralAcceleration",
|
||||
"CalibrationProgress",
|
||||
"CarBatteryCapacity",
|
||||
"CarParamsPersistent",
|
||||
"CurvatureData",
|
||||
"ExperimentalLongitudinalEnabled",
|
||||
"FrogPilotCarParamsPersistent",
|
||||
"KonikMinutes",
|
||||
"LastUpdateTime",
|
||||
"MapBoxRequests",
|
||||
"ModelDrivesAndScores",
|
||||
"openpilotMinutes",
|
||||
"OverpassRequests",
|
||||
"PandaSignatures",
|
||||
"SpeedLimits",
|
||||
"SpeedLimitsFiltered",
|
||||
"UpdateFailedCount",
|
||||
"UpdaterAvailableBranches",
|
||||
"UpdaterCurrentDescription",
|
||||
"UpdaterCurrentReleaseNotes",
|
||||
"UpdaterFetchAvailable",
|
||||
"UpdaterTargetBranch",
|
||||
"UptimeOffroad"
|
||||
}
|
||||
|
||||
TUNING_LEVELS = {
|
||||
"MINIMAL": 0,
|
||||
"STANDARD": 1,
|
||||
"ADVANCED": 2,
|
||||
"DEVELOPER": 3
|
||||
}
|
||||
|
||||
def get_frogpilot_toggles(sm=messaging.SubMaster(["frogpilotPlan"])):
|
||||
return process_frogpilot_toggles(sm["frogpilotPlan"].frogpilotToggles)
|
||||
|
||||
@cache
|
||||
def process_frogpilot_toggles(toggles):
|
||||
if toggles:
|
||||
return SimpleNamespace(**json.loads(toggles))
|
||||
return FrogPilotVariables().frogpilot_toggles
|
||||
|
||||
def update_frogpilot_toggles():
|
||||
if not hasattr(update_frogpilot_toggles, "_params_memory"):
|
||||
update_frogpilot_toggles._params_memory = Params(memory=True)
|
||||
|
||||
update_frogpilot_toggles._params_memory.put_bool("FrogPilotTogglesUpdated", True)
|
||||
|
||||
class FrogPilotVariables:
|
||||
def __init__(self):
|
||||
self.params = Params(return_defaults=True)
|
||||
self.params_memory = Params(memory=True)
|
||||
|
||||
self.frogpilot_toggles = SimpleNamespace()
|
||||
toggle = self.frogpilot_toggles
|
||||
|
||||
self.default_values = {key.decode(): self.params.get_default_value(key) for key in self.params.all_keys()}
|
||||
self.tuning_levels = {key.decode(): self.params.get_tuning_level(key) for key in self.params.all_keys()}
|
||||
|
||||
branch = get_build_metadata().channel
|
||||
self.development_branch = branch == "FrogPilot-Development"
|
||||
self.release_branch = branch == "FrogPilot"
|
||||
self.staging_branch = branch == "FrogPilot-Staging"
|
||||
self.testing_branch = branch == "FrogPilot-Testing"
|
||||
self.vetting_branch = branch == "FrogPilot-Vetting"
|
||||
|
||||
self.update()
|
||||
|
||||
def get_value(self, key, cast=bool, condition=True, conversion=None, default=None, min=None, max=None):
|
||||
if not condition or (self.tuning_level < self.tuning_levels.get(key, 0)):
|
||||
if default is not None:
|
||||
return default
|
||||
return False if cast is bool else self.default_values.get(key)
|
||||
|
||||
if cast is bool:
|
||||
value = self.params.get_bool(key)
|
||||
else:
|
||||
value = self.params.get(key)
|
||||
|
||||
if value is not None:
|
||||
if cast is not bool and cast is not None:
|
||||
try:
|
||||
value = cast(value)
|
||||
except (TypeError, ValueError):
|
||||
value = self.default_values.get(key)
|
||||
elif default is not None:
|
||||
value = default
|
||||
|
||||
if conversion is not None and isinstance(value, (int, float)):
|
||||
value *= conversion
|
||||
|
||||
if min is not None and value < min:
|
||||
value = min
|
||||
elif max is not None and value > max:
|
||||
value = max
|
||||
|
||||
return value
|
||||
|
||||
def update(self, started=False):
|
||||
toggle = self.frogpilot_toggles
|
||||
self.tuning_level = self.params.get("TuningLevel") if self.params.get_bool("TuningLevelConfirmed") else TUNING_LEVELS["ADVANCED"]
|
||||
|
||||
msg_bytes = self.params.get("CarParams" if started else "CarParamsPersistent", block=started)
|
||||
if msg_bytes:
|
||||
CP = messaging.log_from_bytes(msg_bytes, car.CarParams)
|
||||
else:
|
||||
CP = interfaces[MOCK.MOCK].get_params(MOCK.MOCK, gen_empty_fingerprint(), [], False, False, False, toggle).as_reader()
|
||||
|
||||
is_torque_car = CP.lateralTuning.which() == "torque"
|
||||
if not is_torque_car:
|
||||
CP_builder = CP.as_builder()
|
||||
CarInterfaceBase.configure_torque_tune(MOCK.MOCK, CP_builder.lateralTuning)
|
||||
CP = CP_builder.as_reader()
|
||||
|
||||
fpmsg_bytes = self.params.get("FrogPilotCarParams" if started else "FrogPilotCarParamsPersistent", block=started)
|
||||
if fpmsg_bytes:
|
||||
FPCP = messaging.log_from_bytes(fpmsg_bytes, custom.FrogPilotCarParams)
|
||||
else:
|
||||
FPCP = interfaces[MOCK.MOCK].get_frogpilot_params(MOCK.MOCK, gen_empty_fingerprint(), [], CP, toggle)
|
||||
|
||||
toggle.car_make = CP.brand
|
||||
toggle.car_model = CP.carFingerprint
|
||||
has_bsm = CP.enableBsm
|
||||
toggle.has_pedal = CP.enableGasInterceptorDEPRECATED
|
||||
has_radar = not CP.radarUnavailable
|
||||
toggle.has_sdsu = toggle.car_make == "toyota" and bool(FPCP.flags & ToyotaFrogPilotFlags.SMART_DSU.value)
|
||||
has_sng = CP.autoResumeSng
|
||||
toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.flags & ToyotaFrogPilotFlags.ZSS.value)
|
||||
toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
|
||||
pcm_cruise = CP.pcmCruise
|
||||
|
||||
msg_bytes = self.params.get("LiveTorqueParameters")
|
||||
if msg_bytes:
|
||||
LTP = messaging.log_from_bytes(msg_bytes, log.LiveTorqueParametersData)
|
||||
else:
|
||||
|
||||
toggle.is_metric = self.params.get_bool("IsMetric")
|
||||
distance_conversion = 1 if toggle.is_metric else CV.FOOT_TO_METER
|
||||
small_distance_conversion = 1 if toggle.is_metric else CV.INCH_TO_CM
|
||||
speed_conversion = CV.KPH_TO_MS if toggle.is_metric else CV.MPH_TO_MS
|
||||
|
||||
advanced_custom_ui = self.get_value("AdvancedCustomUI")
|
||||
toggle.hide_alerts = self.get_value("HideAlerts", condition=advanced_custom_ui)
|
||||
toggle.hide_lead_marker = self.get_value("HideLeadMarker", condition=advanced_custom_ui and toggle.openpilot_longitudinal)
|
||||
toggle.hide_max_speed = self.get_value("HideMaxSpeed", condition=advanced_custom_ui)
|
||||
toggle.hide_speed = self.get_value("HideSpeed", condition=advanced_custom_ui)
|
||||
toggle.hide_speed_limit = self.get_value("HideSpeedLimit", condition=advanced_custom_ui)
|
||||
toggle.use_wheel_speed = self.get_value("WheelSpeed", condition=advanced_custom_ui)
|
||||
|
||||
toggle.alert_volume_controller = self.get_value("AlertVolumeControl")
|
||||
toggle.disengage_volume = self.get_value("DisengageVolume", cast=float, condition=toggle.alert_volume_controller)
|
||||
toggle.engage_volume = self.get_value("EngageVolume", cast=float, condition=toggle.alert_volume_controller)
|
||||
toggle.prompt_volume = self.get_value("PromptVolume", cast=float, condition=toggle.alert_volume_controller)
|
||||
toggle.promptDistracted_volume = self.get_value("PromptDistractedVolume", cast=float, condition=toggle.alert_volume_controller)
|
||||
toggle.refuse_volume = self.get_value("RefuseVolume", cast=float, condition=toggle.alert_volume_controller)
|
||||
toggle.warningSoft_volume = self.get_value("WarningSoftVolume", cast=float, condition=toggle.alert_volume_controller)
|
||||
toggle.warningImmediate_volume = max(self.get_value("WarningImmediateVolume", cast=float, condition=toggle.alert_volume_controller, default=25), 25)
|
||||
|
||||
toggle.automatic_updates = self.get_value("AutomaticUpdates", condition=(self.release_branch or self.vetting_branch), default=True) and not BACKUP_PATH.is_file()
|
||||
|
||||
car_model = self.params.get("CarModel")
|
||||
toggle.force_fingerprint = self.get_value("ForceFingerprint", condition=car_model != self.default_values["CarModel"])
|
||||
if toggle.force_fingerprint:
|
||||
toggle.car_model = car_model
|
||||
|
||||
toggle.cluster_offset = self.get_value("ClusterOffset", cast=float, condition=toggle.car_make == "toyota")
|
||||
|
||||
toggle.conditional_experimental_mode = toggle.openpilot_longitudinal and self.get_value("ConditionalExperimental")
|
||||
toggle.conditional_curves = self.get_value("CECurves", condition=toggle.conditional_experimental_mode)
|
||||
toggle.conditional_curves_lead = self.get_value("CECurvesLead", condition=toggle.conditional_curves)
|
||||
toggle.conditional_lead = self.get_value("CELead", condition=toggle.conditional_experimental_mode)
|
||||
toggle.conditional_slower_lead = self.get_value("CESlowerLead", condition=toggle.conditional_lead)
|
||||
toggle.conditional_stopped_lead = self.get_value("CEStoppedLead", condition=toggle.conditional_lead)
|
||||
toggle.conditional_limit = self.get_value("CESpeed", cast=float, condition=toggle.conditional_experimental_mode, conversion=speed_conversion)
|
||||
toggle.conditional_limit_lead = self.get_value("CESpeedLead", cast=float, condition=toggle.conditional_experimental_mode, conversion=speed_conversion)
|
||||
toggle.conditional_model_stop_time = self.get_value("CEModelStopTime", cast=float, condition=toggle.conditional_experimental_mode and self.get_value("CEStopLights"))
|
||||
toggle.conditional_signal = self.get_value("CESignalSpeed", cast=float, condition=toggle.conditional_experimental_mode, conversion=speed_conversion)
|
||||
toggle.conditional_signal_lane_detection = self.get_value("CESignalLaneDetection", condition=toggle.conditional_signal != 0)
|
||||
toggle.cem_status = self.get_value("ShowCEMStatus", condition=toggle.conditional_experimental_mode)
|
||||
|
||||
toggle.curve_speed_controller = toggle.openpilot_longitudinal and self.get_value("CurveSpeedController")
|
||||
toggle.csc_status = self.get_value("ShowCSCStatus", condition=toggle.curve_speed_controller)
|
||||
|
||||
custom_alerts = self.get_value("CustomAlerts")
|
||||
toggle.goat_scream_alert = self.get_value("GoatScream", condition=custom_alerts)
|
||||
toggle.green_light_alert = self.get_value("GreenLightAlert", condition=custom_alerts)
|
||||
toggle.lead_departing_alert = self.get_value("LeadDepartingAlert", condition=custom_alerts)
|
||||
toggle.loud_blindspot_alert = self.get_value("LoudBlindspotAlert", condition=custom_alerts and has_bsm)
|
||||
toggle.speed_limit_changed_alert = self.get_value("SpeedLimitChangedAlert", condition=custom_alerts)
|
||||
|
||||
toggle.custom_personalities = toggle.openpilot_longitudinal and self.get_value("CustomPersonalities")
|
||||
toggle.aggressive_jerk_acceleration = self.get_value("AggressiveJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.aggressive_jerk_deceleration = self.get_value("AggressiveJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.aggressive_jerk_danger = self.get_value("AggressiveJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.aggressive_jerk_speed = self.get_value("AggressiveJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.aggressive_jerk_speed_decrease = self.get_value("AggressiveJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.aggressive_follow = self.get_value("AggressiveFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW)
|
||||
toggle.standard_jerk_acceleration = self.get_value("StandardJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.standard_jerk_deceleration = self.get_value("StandardJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.standard_jerk_danger = self.get_value("StandardJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.standard_jerk_speed = self.get_value("StandardJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.standard_jerk_speed_decrease = self.get_value("StandardJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.standard_follow = self.get_value("StandardFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW)
|
||||
toggle.relaxed_jerk_acceleration = self.get_value("RelaxedJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.relaxed_jerk_deceleration = self.get_value("RelaxedJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.relaxed_jerk_danger = self.get_value("RelaxedJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.relaxed_jerk_speed = self.get_value("RelaxedJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.relaxed_jerk_speed_decrease = self.get_value("RelaxedJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
|
||||
toggle.relaxed_follow = self.get_value("RelaxedFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW)
|
||||
toggle.traffic_mode_jerk_acceleration = [self.get_value("TrafficJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_acceleration]
|
||||
toggle.traffic_mode_jerk_deceleration = [self.get_value("TrafficJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_deceleration]
|
||||
toggle.traffic_mode_jerk_danger = [self.get_value("TrafficJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_danger]
|
||||
toggle.traffic_mode_jerk_speed = [self.get_value("TrafficJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_speed]
|
||||
toggle.traffic_mode_jerk_speed_decrease = [self.get_value("TrafficJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_speed_decrease]
|
||||
toggle.traffic_mode_follow = [self.get_value("TrafficFollow", cast=float, condition=toggle.custom_personalities, min=0.5, max=MAX_T_FOLLOW), toggle.aggressive_follow]
|
||||
|
||||
custom_ui = self.get_value("CustomUI")
|
||||
toggle.acceleration_path = toggle.openpilot_longitudinal and (self.get_value("AccelerationPath", condition=custom_ui))
|
||||
toggle.adjacent_paths = self.get_value("AdjacentPath", condition=custom_ui)
|
||||
toggle.blind_spot_path = has_bsm and self.get_value("BlindSpotPath", condition=custom_ui)
|
||||
toggle.compass = self.get_value("Compass", condition=custom_ui)
|
||||
toggle.pedals_on_ui = self.get_value("PedalsOnUI", condition=custom_ui and toggle.openpilot_longitudinal)
|
||||
toggle.dynamic_pedals_on_ui = self.get_value("DynamicPedalsOnUI", condition=toggle.pedals_on_ui)
|
||||
toggle.static_pedals_on_ui = self.get_value("StaticPedalsOnUI", condition=toggle.pedals_on_ui)
|
||||
toggle.rotating_wheel = self.get_value("RotatingWheel", condition=custom_ui)
|
||||
|
||||
toggle.developer_ui = self.get_value("DeveloperUI")
|
||||
developer_metrics = self.get_value("DeveloperMetrics", condition=toggle.developer_ui)
|
||||
border_metrics = self.get_value("BorderMetrics", condition=developer_metrics)
|
||||
toggle.blind_spot_metrics = has_bsm and self.get_value("BlindSpotMetrics", condition=border_metrics)
|
||||
toggle.signal_metrics = self.get_value("SignalMetrics", condition=border_metrics)
|
||||
toggle.steering_metrics = self.get_value("ShowSteering", condition=border_metrics)
|
||||
toggle.show_fps = self.get_value("FPSCounter", condition=developer_metrics)
|
||||
toggle.adjacent_path_metrics = self.get_value("AdjacentPathMetrics", condition=developer_metrics)
|
||||
toggle.lead_info = self.get_value("LeadInfo", condition=developer_metrics)
|
||||
toggle.numerical_temp = self.get_value("NumericalTemp", condition=developer_metrics)
|
||||
toggle.fahrenheit = self.get_value("Fahrenheit", condition=toggle.numerical_temp)
|
||||
toggle.cpu_metrics = self.get_value("ShowCPU", condition=developer_metrics)
|
||||
toggle.gpu_metrics = self.get_value("ShowGPU", condition=developer_metrics)
|
||||
toggle.ip_metrics = self.get_value("ShowIP", condition=developer_metrics)
|
||||
toggle.memory_metrics = self.get_value("ShowMemoryUsage", condition=developer_metrics)
|
||||
toggle.storage_left_metrics = self.get_value("ShowStorageLeft", condition=developer_metrics)
|
||||
toggle.storage_used_metrics = self.get_value("ShowStorageUsed", condition=developer_metrics)
|
||||
toggle.use_si_metrics = self.get_value("UseSI", condition=developer_metrics)
|
||||
toggle.developer_sidebar = self.get_value("DeveloperSidebar", condition=toggle.developer_ui)
|
||||
developer_widgets = self.get_value("DeveloperWidgets", condition=toggle.developer_ui)
|
||||
toggle.adjacent_lead_tracking = has_radar and (self.get_value("AdjacentLeadsUI", condition=developer_widgets))
|
||||
toggle.radar_tracks = has_radar and (self.get_value("RadarTracksUI", condition=developer_widgets))
|
||||
toggle.show_stopping_point = toggle.openpilot_longitudinal and (self.get_value("ShowStoppingPoint", condition=developer_widgets))
|
||||
toggle.show_stopping_point_metrics = self.get_value("ShowStoppingPointMetrics", condition=toggle.show_stopping_point)
|
||||
|
||||
device_management = self.get_value("DeviceManagement")
|
||||
toggle.increase_thermal_limits = self.get_value("IncreaseThermalLimits", condition=device_management)
|
||||
toggle.low_voltage_shutdown = self.get_value("LowVoltageShutdown", cast=float, condition=device_management, min=VBATT_PAUSE_CHARGING, max=12.5)
|
||||
toggle.no_logging = self.get_value("NoLogging", condition=device_management and not self.vetting_branch)
|
||||
toggle.no_uploads = self.get_value("NoUploads", condition=device_management and not self.vetting_branch)
|
||||
toggle.no_onroad_uploads = self.get_value("DisableOnroadUploads", condition=toggle.no_uploads)
|
||||
|
||||
distance_button_control = self.get_value("DistanceButtonControl", cast=float)
|
||||
toggle.experimental_mode_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
|
||||
toggle.experimental_mode_via_press = toggle.experimental_mode_via_distance
|
||||
toggle.force_coast_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["FORCE_COAST"]
|
||||
toggle.pause_lateral_via_distance = distance_button_control == BUTTON_FUNCTIONS["PAUSE_LATERAL"]
|
||||
toggle.pause_longitudinal_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"]
|
||||
toggle.personality_profile_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"]
|
||||
toggle.traffic_mode_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["TRAFFIC_MODE"]
|
||||
|
||||
distance_button_control_long = self.get_value("LongDistanceButtonControl", cast=float)
|
||||
toggle.experimental_mode_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
|
||||
toggle.experimental_mode_via_press |= toggle.experimental_mode_via_distance_long
|
||||
toggle.force_coast_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["FORCE_COAST"]
|
||||
toggle.pause_lateral_via_distance_long = distance_button_control_long == BUTTON_FUNCTIONS["PAUSE_LATERAL"]
|
||||
toggle.pause_longitudinal_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"]
|
||||
toggle.personality_profile_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"]
|
||||
toggle.traffic_mode_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["TRAFFIC_MODE"]
|
||||
|
||||
distance_button_control_very_long = self.get_value("VeryLongDistanceButtonControl", cast=float)
|
||||
toggle.experimental_mode_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
|
||||
toggle.experimental_mode_via_press |= toggle.experimental_mode_via_distance_very_long
|
||||
toggle.force_coast_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["FORCE_COAST"]
|
||||
toggle.pause_lateral_via_distance_very_long = distance_button_control_very_long == BUTTON_FUNCTIONS["PAUSE_LATERAL"]
|
||||
toggle.pause_longitudinal_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"]
|
||||
toggle.personality_profile_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"]
|
||||
toggle.traffic_mode_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["TRAFFIC_MODE"]
|
||||
|
||||
toggle.lane_changes = self.get_value("LaneChanges")
|
||||
toggle.lane_change_delay = self.get_value("LaneChangeTime", cast=float, condition=toggle.lane_changes)
|
||||
toggle.lane_detection_width = self.get_value("LaneDetectionWidth", cast=float, condition=toggle.lane_changes, conversion=distance_conversion)
|
||||
toggle.minimum_lane_change_speed = self.get_value("MinimumLaneChangeSpeed", cast=float, condition=toggle.lane_changes, conversion=speed_conversion)
|
||||
toggle.nudgeless = self.get_value("NudgelessLaneChange", condition=toggle.lane_changes)
|
||||
toggle.one_lane_change = self.get_value("OneLaneChange", condition=toggle.lane_changes)
|
||||
|
||||
lateral_tuning = self.get_value("LateralTune")
|
||||
toggle.use_turn_desires = self.get_value("TurnDesires", condition=lateral_tuning)
|
||||
|
||||
lkas_button_control = self.get_value("LKASButtonControl", cast=float, condition=toggle.car_make != "subaru")
|
||||
toggle.experimental_mode_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
|
||||
toggle.experimental_mode_via_press |= toggle.experimental_mode_via_lkas
|
||||
toggle.force_coast_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["FORCE_COAST"]
|
||||
toggle.pause_lateral_via_lkas = lkas_button_control == BUTTON_FUNCTIONS["PAUSE_LATERAL"]
|
||||
toggle.pause_longitudinal_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"]
|
||||
toggle.personality_profile_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"]
|
||||
toggle.traffic_mode_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["TRAFFIC_MODE"]
|
||||
|
||||
toggle.lock_doors_timer = self.get_value("LockDoorsTimer", cast=float, condition=(toggle.car_make == "toyota"))
|
||||
|
||||
longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("LongitudinalTune")
|
||||
toggle.acceleration_profile = self.get_value("AccelerationProfile", cast=float, condition=longitudinal_tuning)
|
||||
toggle.deceleration_profile = self.get_value("DecelerationProfile", cast=float, condition=longitudinal_tuning)
|
||||
toggle.human_acceleration = self.get_value("HumanAcceleration", condition=longitudinal_tuning)
|
||||
toggle.human_following = self.get_value("HumanFollowing", condition=longitudinal_tuning)
|
||||
toggle.human_lane_changes = has_radar and self.get_value("HumanLaneChanges", condition=longitudinal_tuning)
|
||||
toggle.lead_detection_probability = self.get_value("LeadDetectionThreshold", cast=float, condition=longitudinal_tuning, conversion=0.01, min=0.25, max=0.5)
|
||||
toggle.taco_tune = self.get_value("TacoTune", condition=longitudinal_tuning)
|
||||
|
||||
toggle.model_ui = self.get_value("ModelUI")
|
||||
toggle.dynamic_path_width = self.get_value("DynamicPathWidth", condition=toggle.model_ui)
|
||||
toggle.lane_line_width = self.get_value("LaneLinesWidth", cast=float, condition=toggle.model_ui, conversion=small_distance_conversion / 200)
|
||||
toggle.path_edge_width = self.get_value("PathEdgeWidth", cast=float, condition=toggle.model_ui)
|
||||
toggle.path_width = self.get_value("PathWidth", cast=float, condition=toggle.model_ui, conversion=distance_conversion / 2)
|
||||
toggle.road_edge_width = self.get_value("RoadEdgesWidth", cast=float, condition=toggle.model_ui, conversion=small_distance_conversion / 200)
|
||||
|
||||
navigation_ui = self.get_value("NavigationUI")
|
||||
toggle.road_name_ui = self.get_value("RoadNameUI", condition=navigation_ui)
|
||||
toggle.show_speed_limits = self.get_value("ShowSpeedLimits", condition=navigation_ui)
|
||||
toggle.speed_limit_vienna = self.get_value("UseVienna", condition=navigation_ui)
|
||||
|
||||
quality_of_life_lateral = self.get_value("QOLLateral")
|
||||
toggle.pause_lateral_below_speed = self.get_value("PauseLateralSpeed", cast=float, condition=quality_of_life_lateral, conversion=speed_conversion)
|
||||
toggle.pause_lateral_below_signal = self.get_value("PauseLateralOnSignal", condition=toggle.pause_lateral_below_speed != 0)
|
||||
|
||||
quality_of_life_longitudinal = toggle.openpilot_longitudinal and self.get_value("QOLLongitudinal")
|
||||
toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise))
|
||||
toggle.cruise_increase_long = self.get_value("CustomCruiseLong", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise))
|
||||
toggle.force_stops = self.get_value("ForceStops", condition=quality_of_life_longitudinal)
|
||||
toggle.increase_stopped_distance = self.get_value("IncreasedStoppedDistance", cast=float, condition=quality_of_life_longitudinal, conversion=distance_conversion)
|
||||
map_gears = self.get_value("MapGears", condition=quality_of_life_longitudinal)
|
||||
toggle.map_acceleration = self.get_value("MapAcceleration", condition=map_gears)
|
||||
toggle.map_deceleration = self.get_value("MapDeceleration", condition=map_gears)
|
||||
toggle.reverse_cruise_increase = self.get_value("ReverseCruise", condition=quality_of_life_longitudinal and toggle.car_make == "toyota" and pcm_cruise)
|
||||
toggle.set_speed_offset = self.get_value("SetSpeedOffset", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise), conversion=(1 if toggle.is_metric else CV.MPH_TO_KPH))
|
||||
toggle.weather_presets = self.get_value("WeatherPresets", condition=quality_of_life_longitudinal)
|
||||
toggle.increase_following_distance_low_visibility = self.get_value("IncreaseFollowingLowVisibility", cast=float, condition=toggle.weather_presets)
|
||||
toggle.increase_following_distance_rain = self.get_value("IncreaseFollowingRain", cast=float, condition=toggle.weather_presets)
|
||||
toggle.increase_following_distance_rain_storm = self.get_value("IncreaseFollowingRainStorm", cast=float, condition=toggle.weather_presets)
|
||||
toggle.increase_following_distance_snow = self.get_value("IncreaseFollowingSnow", cast=float, condition=toggle.weather_presets)
|
||||
toggle.increase_stopped_distance_low_visibility = self.get_value("IncreasedStoppedDistanceLowVisibility", cast=float, condition=toggle.weather_presets, conversion=distance_conversion)
|
||||
toggle.increase_stopped_distance_rain = self.get_value("IncreasedStoppedDistanceRain", cast=float, condition=toggle.weather_presets, conversion=distance_conversion)
|
||||
toggle.increase_stopped_distance_rain_storm = self.get_value("IncreasedStoppedDistanceRainStorm", cast=float, condition=toggle.weather_presets, conversion=distance_conversion)
|
||||
toggle.increase_stopped_distance_snow = self.get_value("IncreasedStoppedDistanceSnow", cast=float, condition=toggle.weather_presets, conversion=distance_conversion)
|
||||
toggle.reduce_acceleration_low_visibility = self.get_value("ReduceAccelerationLowVisibility", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
toggle.reduce_acceleration_rain = self.get_value("ReduceAccelerationRain", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
toggle.reduce_acceleration_rain_storm = self.get_value("ReduceAccelerationRainStorm", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
toggle.reduce_acceleration_snow = self.get_value("ReduceAccelerationSnow", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
toggle.reduce_lateral_acceleration_low_visibility = self.get_value("ReduceLateralAccelerationLowVisibility", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
toggle.reduce_lateral_acceleration_rain = self.get_value("ReduceLateralAccelerationRain", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
toggle.reduce_lateral_acceleration_rain_storm = self.get_value("ReduceLateralAccelerationRainStorm", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
toggle.reduce_lateral_acceleration_snow = self.get_value("ReduceLateralAccelerationSnow", cast=float, condition=toggle.weather_presets, conversion=0.01)
|
||||
|
||||
quality_of_life_visuals = self.get_value("QOLVisuals")
|
||||
toggle.camera_view = self.get_value("CameraView", cast=float, condition=quality_of_life_visuals)
|
||||
toggle.driver_camera_in_reverse = self.get_value("DriverCamera", condition=quality_of_life_visuals)
|
||||
toggle.onroad_distance_button = toggle.openpilot_longitudinal and (self.get_value("OnroadDistanceButton", condition=quality_of_life_visuals))
|
||||
toggle.stopped_timer = self.get_value("StoppedTimer", condition=quality_of_life_visuals)
|
||||
|
||||
toggle.rainbow_path = self.get_value("RainbowPath")
|
||||
|
||||
toggle.random_events = self.get_value("RandomEvents")
|
||||
|
||||
screen_management = self.get_value("ScreenManagement")
|
||||
toggle.screen_brightness = max(self.get_value("ScreenBrightness", cast=float, condition=screen_management), 1)
|
||||
toggle.screen_brightness_onroad = self.get_value("ScreenBrightnessOnroad", cast=float, condition=(screen_management))
|
||||
toggle.screen_recorder = self.get_value("ScreenRecorder", condition=screen_management)
|
||||
toggle.screen_timeout = self.get_value("ScreenTimeout", cast=float, condition=screen_management)
|
||||
toggle.screen_timeout_onroad = self.get_value("ScreenTimeoutOnroad", cast=float, condition=screen_management)
|
||||
toggle.standby_mode = self.get_value("StandbyMode", condition=screen_management)
|
||||
|
||||
toggle.sng_hack = self.get_value("SNGHack", condition=toggle.openpilot_longitudinal and toggle.car_make == "toyota" and not toggle.has_pedal and not has_sng)
|
||||
|
||||
toggle.speed_limit_controller = toggle.openpilot_longitudinal and self.get_value("SpeedLimitController")
|
||||
toggle.map_speed_lookahead_higher = self.get_value("SLCLookaheadHigher", cast=float, condition=toggle.speed_limit_controller)
|
||||
toggle.map_speed_lookahead_lower = self.get_value("SLCLookaheadLower", cast=float, condition=toggle.speed_limit_controller)
|
||||
toggle.set_speed_limit = self.get_value("SetSpeedLimit", condition=toggle.speed_limit_controller)
|
||||
toggle.show_speed_limit_offset = self.get_value("ShowSLCOffset", condition=toggle.speed_limit_controller)
|
||||
slc_fallback_method = self.get_value("SLCFallback", cast=float, condition=toggle.speed_limit_controller)
|
||||
toggle.slc_fallback_experimental_mode = slc_fallback_method == 1
|
||||
toggle.slc_fallback_previous_speed_limit = slc_fallback_method == 2
|
||||
toggle.slc_fallback_set_speed = slc_fallback_method == 0
|
||||
toggle.slc_mapbox_filler = self.get_value("SLCMapboxFiller", condition=(toggle.show_speed_limits or toggle.speed_limit_controller) and self.params.get("MapboxSecretKey") is not None)
|
||||
speed_limit_confirmation = self.get_value("SLCConfirmation", condition=toggle.speed_limit_controller)
|
||||
toggle.speed_limit_confirmation_higher = self.get_value("SLCConfirmationHigher", condition=speed_limit_confirmation)
|
||||
toggle.speed_limit_confirmation_lower = self.get_value("SLCConfirmationLower", condition=speed_limit_confirmation)
|
||||
slc_override_method = self.get_value("SLCOverride", cast=float, condition=toggle.speed_limit_controller)
|
||||
toggle.speed_limit_controller_override_manual = slc_override_method == 1
|
||||
toggle.speed_limit_controller_override_set_speed = slc_override_method == 2
|
||||
toggle.speed_limit_offset1 = self.get_value("Offset1", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion)
|
||||
toggle.speed_limit_offset2 = self.get_value("Offset2", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion)
|
||||
toggle.speed_limit_offset3 = self.get_value("Offset3", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion)
|
||||
toggle.speed_limit_offset4 = self.get_value("Offset4", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion)
|
||||
toggle.speed_limit_offset5 = self.get_value("Offset5", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion)
|
||||
toggle.speed_limit_offset6 = self.get_value("Offset6", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion)
|
||||
toggle.speed_limit_offset7 = self.get_value("Offset7", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion)
|
||||
toggle.speed_limit_priority1 = self.get_value("SLCPriority1", cast=None, condition=toggle.speed_limit_controller)
|
||||
toggle.speed_limit_priority2 = self.get_value("SLCPriority2", cast=None, condition=toggle.speed_limit_controller)
|
||||
toggle.speed_limit_priority_highest = toggle.speed_limit_priority1 == "Highest"
|
||||
toggle.speed_limit_priority_lowest = toggle.speed_limit_priority1 == "Lowest"
|
||||
toggle.speed_limit_sources = self.get_value("SpeedLimitSources", condition=toggle.speed_limit_controller)
|
||||
|
||||
toggle.speed_limit_filler = self.get_value("SpeedLimitFiller")
|
||||
|
||||
toggle.startup_alert_top = self.get_value("StartupMessageTop", cast=str, default="")
|
||||
toggle.startup_alert_bottom = self.get_value("StartupMessageBottom", cast=str, default="")
|
||||
|
||||
toggle.tethering_config = self.get_value("TetheringEnabled", cast=float)
|
||||
|
||||
toyota_doors = self.get_value("ToyotaDoors", condition=toggle.car_make == "toyota")
|
||||
toggle.lock_doors = self.get_value("LockDoors", condition=toyota_doors)
|
||||
toggle.unlock_doors = self.get_value("UnlockDoors", condition=toyota_doors)
|
||||
|
||||
toggle.volt_sng = self.get_value("VoltSNG", condition=toggle.car_model == "CHEVROLET_VOLT")
|
||||
|
||||
self.params_memory.remove("FrogPilotTogglesUpdated")
|
||||
@@ -12,7 +12,7 @@ class FrogPilotCard:
|
||||
self.accel_pressed = False
|
||||
self.decel_pressed = False
|
||||
|
||||
def update(self, carState, frogpilotCarState, sm):
|
||||
def update(self, carState, frogpilotCarState, sm, frogpilot_toggles):
|
||||
if sm.updated["frogpilotPlan"] or any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents):
|
||||
self.accel_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents)
|
||||
|
||||
|
||||
@@ -40,7 +40,7 @@ class FrogPilotPlanner:
|
||||
|
||||
self.tracking_lead_filter = FirstOrderFilter(0, 0.5, DT_MDL)
|
||||
|
||||
def update(self, now, time_validated, sm):
|
||||
def update(self, now, time_validated, sm, frogpilot_toggles):
|
||||
self.lead_one = sm["radarState"].leadOne
|
||||
|
||||
long_control_active = sm["carControl"].longActive
|
||||
@@ -49,14 +49,14 @@ class FrogPilotPlanner:
|
||||
v_ego = max(sm["carState"].vEgo, 0)
|
||||
|
||||
if long_control_active:
|
||||
self.frogpilot_acceleration.update(v_ego, sm)
|
||||
self.frogpilot_acceleration.update(v_ego, sm, frogpilot_toggles)
|
||||
else:
|
||||
self.frogpilot_acceleration.max_accel = 0
|
||||
self.frogpilot_acceleration.min_accel = 0
|
||||
|
||||
self.frogpilot_events.update(v_cruise, sm)
|
||||
self.frogpilot_events.update(v_cruise, sm, frogpilot_toggles)
|
||||
|
||||
self.frogpilot_following.update(long_control_active, v_ego, sm)
|
||||
self.frogpilot_following.update(long_control_active, v_ego, sm, frogpilot_toggles)
|
||||
|
||||
gps_location = sm[self.gps_location_service]
|
||||
self.gps_position = {
|
||||
@@ -75,7 +75,7 @@ class FrogPilotPlanner:
|
||||
if not sm["carState"].standstill:
|
||||
self.tracking_lead = self.update_lead_status()
|
||||
|
||||
self.v_cruise = self.frogpilot_vcruise.update(long_control_active, now, time_validated, v_cruise, v_ego, sm)
|
||||
self.v_cruise = self.frogpilot_vcruise.update(long_control_active, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles)
|
||||
|
||||
def update_lead_status(self):
|
||||
following_lead = self.lead_one.status
|
||||
@@ -84,7 +84,7 @@ class FrogPilotPlanner:
|
||||
self.tracking_lead_filter.update(following_lead)
|
||||
return self.tracking_lead_filter.x >= THRESHOLD
|
||||
|
||||
def publish(self, sm, pm):
|
||||
def publish(self, sm, pm, frogpilot_toggles):
|
||||
frogpilot_plan_send = messaging.new_message("frogpilotPlan")
|
||||
frogpilot_plan_send.valid = sm.all_checks(service_list=["carState", "controlsState", "selfdriveState", "radarState"])
|
||||
frogpilotPlan = frogpilot_plan_send.frogpilotPlan
|
||||
@@ -97,6 +97,8 @@ class FrogPilotPlanner:
|
||||
|
||||
frogpilotPlan.frogpilotEvents = self.frogpilot_events.events.to_msg()
|
||||
|
||||
frogpilotPlan.frogpilotToggles = json.dumps(vars(frogpilot_toggles))
|
||||
|
||||
frogpilotPlan.lateralCheck = self.lateral_check
|
||||
|
||||
frogpilotPlan.maxAcceleration = float(self.frogpilot_acceleration.max_accel)
|
||||
|
||||
@@ -13,7 +13,7 @@ class FrogPilotEvents:
|
||||
|
||||
self.played_events = set()
|
||||
|
||||
def update(self, v_cruise, sm):
|
||||
def update(self, v_cruise, sm, frogpilot_toggles):
|
||||
current_alert = sm["selfdriveState"].alertType
|
||||
current_frogpilot_alert = sm["selfdriveState"].alertType
|
||||
|
||||
|
||||
@@ -14,7 +14,7 @@ class FrogPilotFollowing:
|
||||
self.speed_jerk = 0
|
||||
self.t_follow = 0
|
||||
|
||||
def update(self, long_control_active, v_ego, sm):
|
||||
def update(self, long_control_active, v_ego, sm, frogpilot_toggles):
|
||||
if long_control_active:
|
||||
if sm["carState"].aEgo >= 0:
|
||||
self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(
|
||||
|
||||
@@ -7,7 +7,7 @@ class FrogPilotVCruise:
|
||||
def __init__(self, FrogPilotPlanner):
|
||||
self.frogpilot_planner = FrogPilotPlanner
|
||||
|
||||
def update(self, long_control_active, now, time_validated, v_cruise, v_ego, sm):
|
||||
def update(self, long_control_active, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles):
|
||||
v_cruise_cluster = max(sm["carState"].vCruiseCluster * CV.KPH_TO_MS, v_cruise)
|
||||
v_cruise_diff = v_cruise_cluster - v_cruise
|
||||
|
||||
|
||||
@@ -9,28 +9,35 @@ from openpilot.common.realtime import DT_MDL, Priority, Ratekeeper, config_realt
|
||||
from openpilot.common.time_helpers import system_time_valid
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_utilities import ThreadManager, is_url_pingable
|
||||
from openpilot.frogpilot.common.frogpilot_variables import FrogPilotVariables
|
||||
from openpilot.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
|
||||
from openpilot.frogpilot.system.frogpilot_stats import send_stats
|
||||
from openpilot.frogpilot.system.frogpilot_tracking import FrogPilotTracking
|
||||
|
||||
ASSET_CHECK_RATE = (1 / DT_MDL)
|
||||
|
||||
def check_assets(thread_manager, params_memory):
|
||||
def check_assets(thread_manager, params_memory, frogpilot_toggles):
|
||||
|
||||
def transition_offroad(frogpilot_planner, thread_manager, time_validated, sm, params):
|
||||
def transition_offroad(frogpilot_planner, thread_manager, time_validated, sm, params, frogpilot_toggles):
|
||||
params.put("LastGPSPosition", json.dumps(frogpilot_planner.gps_position))
|
||||
|
||||
if time_validated:
|
||||
thread_manager.run_with_lock(send_stats, (params))
|
||||
thread_manager.run_with_lock(send_stats, (params, frogpilot_toggles))
|
||||
|
||||
def transition_onroad():
|
||||
|
||||
def update_checks(now, thread_manager, params, params_memory, boot_run=False):
|
||||
def update_checks(now, thread_manager, params, params_memory, frogpilot_toggles, boot_run=False):
|
||||
while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
|
||||
time.sleep(60)
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
def update_toggles(frogpilot_variables, started):
|
||||
frogpilot_variables.update(started)
|
||||
frogpilot_toggles = frogpilot_variables.frogpilot_toggles
|
||||
|
||||
return frogpilot_toggles
|
||||
|
||||
def frogpilot_thread():
|
||||
rate_keeper = Ratekeeper(1 / DT_MDL, None)
|
||||
|
||||
@@ -46,8 +53,11 @@ def frogpilot_thread():
|
||||
params = Params(return_defaults=True)
|
||||
params_memory = Params(memory=True)
|
||||
|
||||
frogpilot_variables = FrogPilotVariables()
|
||||
thread_manager = ThreadManager()
|
||||
|
||||
frogpilot_toggles = frogpilot_variables.frogpilot_toggles
|
||||
|
||||
run_update_checks = False
|
||||
started_previously = False
|
||||
time_validated = False
|
||||
@@ -60,7 +70,8 @@ def frogpilot_thread():
|
||||
started = sm["deviceState"].started
|
||||
|
||||
if not started and started_previously:
|
||||
transition_offroad(frogpilot_planner, thread_manager, time_validated, sm, params)
|
||||
frogpilot_toggles = update_toggles(frogpilot_variables, started)
|
||||
transition_offroad(frogpilot_planner, thread_manager, time_validated, sm, params, frogpilot_toggles)
|
||||
|
||||
run_update_checks = True
|
||||
elif started and not started_previously:
|
||||
@@ -70,24 +81,28 @@ def frogpilot_thread():
|
||||
transition_onroad()
|
||||
|
||||
if started and sm.updated["modelV2"]:
|
||||
frogpilot_planner.update(now, time_validated, sm)
|
||||
frogpilot_planner.publish(sm, pm)
|
||||
frogpilot_planner.update(now, time_validated, sm, frogpilot_toggles)
|
||||
frogpilot_planner.publish(sm, pm, frogpilot_toggles)
|
||||
|
||||
frogpilot_tracking.update(now, time_validated, sm)
|
||||
frogpilot_tracking.update(now, time_validated, sm, frogpilot_toggles)
|
||||
elif not started:
|
||||
frogpilot_plan_send = messaging.new_message("frogpilotPlan")
|
||||
frogpilot_plan_send.frogpilotPlan.frogpilotToggles = json.dumps(vars(frogpilot_toggles))
|
||||
pm.send("frogpilotPlan", frogpilot_plan_send)
|
||||
|
||||
started_previously = started
|
||||
|
||||
if rate_keeper.frame % ASSET_CHECK_RATE == 0:
|
||||
check_assets(thread_manager, params_memory)
|
||||
check_assets(thread_manager, params_memory, frogpilot_toggles)
|
||||
|
||||
if params_memory.get_bool("FrogPilotTogglesUpdated"):
|
||||
frogpilot_toggles = update_toggles(frogpilot_variables, started)
|
||||
|
||||
run_update_checks |= now.second == 0 and (now.minute % 60 == 0)
|
||||
run_update_checks &= time_validated
|
||||
|
||||
if run_update_checks:
|
||||
thread_manager.run_with_lock(update_checks, (now, thread_manager, params, params_memory))
|
||||
thread_manager.run_with_lock(update_checks, (now, thread_manager, params, params_memory, frogpilot_toggles))
|
||||
|
||||
run_update_checks = False
|
||||
elif not time_validated:
|
||||
@@ -95,8 +110,8 @@ def frogpilot_thread():
|
||||
if not time_validated:
|
||||
continue
|
||||
|
||||
thread_manager.run_with_lock(send_stats, (params))
|
||||
thread_manager.run_with_lock(update_checks, (now, thread_manager, params, params_memory, True))
|
||||
thread_manager.run_with_lock(send_stats, (params, frogpilot_toggles))
|
||||
thread_manager.run_with_lock(update_checks, (now, thread_manager, params, params_memory, frogpilot_toggles, True))
|
||||
|
||||
rate_keeper.keep_time()
|
||||
|
||||
|
||||
@@ -14,7 +14,6 @@ from openpilot.system.version import get_build_metadata
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_download_utilities import github_rate_limited
|
||||
from openpilot.frogpilot.common.frogpilot_utilities import clean_model_name, is_url_pingable
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
BUCKET = os.environ.get("STATS_BUCKET", "")
|
||||
ORG_ID = os.environ.get("STATS_ORG_ID", "")
|
||||
@@ -137,12 +136,11 @@ def get_city_center(latitude, longitude):
|
||||
|
||||
return (0.0, 0.0, "N/A", "N/A", "N/A")
|
||||
|
||||
def send_stats(params):
|
||||
def send_stats(params, frogpilot_toggles):
|
||||
if not is_url_pingable(os.environ.get("STATS_URL", "")):
|
||||
return
|
||||
|
||||
build_metadata = get_build_metadata()
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
car_params = "{}"
|
||||
msg_bytes = params.get("CarParamsPersistent")
|
||||
|
||||
@@ -12,7 +12,7 @@ from openpilot.frogpilot.controls.lib.frogpilot_events import RANDOM_EVENT_END,
|
||||
from openpilot.frogpilot.controls.lib.weather_checker import WEATHER_CATEGORIES
|
||||
|
||||
class FrogPilotTracking:
|
||||
def __init__(self, frogpilot_planner):
|
||||
def __init__(self, frogpilot_planner, frogpilot_toggles):
|
||||
self.params = frogpilot_planner.params
|
||||
|
||||
self.frogpilot_events = frogpilot_planner.frogpilot_events
|
||||
@@ -36,7 +36,7 @@ class FrogPilotTracking:
|
||||
|
||||
self.model_name = clean_model_name(frogpilot_toggles.model_name)
|
||||
|
||||
def update(self, now, time_validated, sm):
|
||||
def update(self, now, time_validated, sm, frogpilot_toggles):
|
||||
v_cruise = min(sm["carState"].vCruiseCluster, V_CRUISE_MAX) * CV.KPH_TO_MS
|
||||
v_ego = max(sm["carState"].vEgo, 0)
|
||||
|
||||
|
||||
@@ -15,6 +15,13 @@ static void update_state(FrogPilotUIState *fs) {
|
||||
}
|
||||
if (fpsm.updated("frogpilotPlan")) {
|
||||
const cereal::FrogPilotPlan::Reader &frogpilotPlan = fpsm["frogpilotPlan"].getFrogpilotPlan();
|
||||
capnp::Text::Reader toggles = frogpilotPlan.getFrogpilotToggles();
|
||||
QByteArray current_toggles(toggles.cStr(), toggles.size());
|
||||
static QByteArray previous_toggles;
|
||||
if (previous_toggles != current_toggles) {
|
||||
frogpilot_scene.frogpilot_toggles = QJsonDocument::fromJson(current_toggles).object();
|
||||
previous_toggles = current_toggles;
|
||||
}
|
||||
}
|
||||
if (fpsm.updated("selfdriveState")) {
|
||||
const cereal::SelfdriveState::Reader &selfdriveState = fpsm["selfdriveState"].getSelfdriveState();
|
||||
|
||||
@@ -14,6 +14,8 @@ struct FrogPilotUIScene {
|
||||
bool standstill;
|
||||
|
||||
int started_timer;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
};
|
||||
|
||||
class FrogPilotUIState : public QObject {
|
||||
|
||||
@@ -27,6 +27,8 @@ public:
|
||||
QColor purpleColor(int alpha = 255) { return QColor(128, 0, 128, alpha); }
|
||||
QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
QPoint dmIconPosition;
|
||||
QPoint experimentalButtonPosition;
|
||||
|
||||
|
||||
@@ -14,6 +14,8 @@ public:
|
||||
|
||||
QColor bg;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
private:
|
||||
void paintEvent(QPaintEvent *event);
|
||||
void resizeEvent(QResizeEvent *event);
|
||||
|
||||
@@ -112,3 +112,8 @@ void openDescriptions(bool forceOpenDescriptions, std::map<QString, AbstractCont
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void updateFrogPilotToggles() {
|
||||
static Params params_memory{"", true};
|
||||
params_memory.putBool("FrogPilotTogglesUpdated", true);
|
||||
}
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
void loadGif(const QString &gifPath, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent);
|
||||
void loadImage(const QString &basePath, QPixmap &pixmap, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent);
|
||||
void openDescriptions(bool forceOpenDescriptions, std::map<QString, AbstractControl*> toggles);
|
||||
void updateFrogPilotToggles();
|
||||
|
||||
const QString buttonStyle = R"(
|
||||
QPushButton {
|
||||
|
||||
@@ -34,7 +34,7 @@ class CarController(CarControllerBase):
|
||||
torque -= deadband
|
||||
return torque
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
|
||||
torque_l = 0
|
||||
torque_r = 0
|
||||
|
||||
@@ -6,7 +6,7 @@ from opendbc.car.body.values import DBC
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.main]
|
||||
ret = structs.CarState()
|
||||
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
import os
|
||||
import time
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
from cereal import custom
|
||||
from opendbc.car import gen_empty_fingerprint
|
||||
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
|
||||
@@ -153,7 +155,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
|
||||
|
||||
|
||||
def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
|
||||
is_release: bool, num_pandas: int = 1, cached_params: CarParamsT | None = None):
|
||||
is_release: bool, num_pandas: int = 1, cached_params: CarParamsT | None = None, frogpilot_toggles: SimpleNamespace = None):
|
||||
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
|
||||
|
||||
if candidate is None:
|
||||
@@ -161,7 +163,7 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
|
||||
candidate = "MOCK"
|
||||
|
||||
CarInterface = interfaces[candidate]
|
||||
CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, docs=False)
|
||||
CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, docs=False, frogpilot_toggles=frogpilot_toggles)
|
||||
CP.carVin = vin
|
||||
CP.carFw = car_fw
|
||||
CP.fingerprintSource = source
|
||||
|
||||
@@ -19,7 +19,7 @@ class CarController(CarControllerBase):
|
||||
self.packer = CANPacker(dbc_names[Bus.pt])
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
can_sends = []
|
||||
|
||||
lkas_active = CC.latActive and self.lkas_control_bit_prev
|
||||
|
||||
@@ -30,7 +30,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# FrogPilot variables
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
|
||||
@@ -75,7 +75,7 @@ class CarController(CarControllerBase):
|
||||
self.lead_distance_bars_last = None
|
||||
self.distance_bar_frame = 0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
can_sends = []
|
||||
|
||||
actuators = CC.actuators
|
||||
|
||||
@@ -21,7 +21,7 @@ class CarState(CarStateBase):
|
||||
self.distance_button = 0
|
||||
self.lc_button = 0
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
|
||||
@@ -57,7 +57,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
return pedal_gas
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
hud_alert = hud_control.visualAlert
|
||||
|
||||
@@ -49,7 +49,7 @@ class CarState(CarStateBase):
|
||||
return True
|
||||
return False
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
pt_cp = can_parsers[Bus.pt]
|
||||
cam_cp = can_parsers[Bus.cam]
|
||||
loopback_cp = can_parsers[Bus.loopback]
|
||||
|
||||
@@ -109,7 +109,7 @@ class CarController(CarControllerBase):
|
||||
self.brake = 0.0
|
||||
self.last_torque = 0.0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
|
||||
|
||||
@@ -50,7 +50,7 @@ class CarState(CarStateBase):
|
||||
# However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
|
||||
self.dash_speed_seen = False
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
if self.CP.enableBsm:
|
||||
|
||||
@@ -55,7 +55,7 @@ class CarController(CarControllerBase):
|
||||
self.car_fingerprint = CP.carFingerprint
|
||||
self.last_button_frame = 0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
|
||||
|
||||
@@ -7,6 +7,7 @@ from enum import StrEnum
|
||||
from typing import Any
|
||||
from collections.abc import Callable
|
||||
from functools import cache
|
||||
from types import SimpleNamespace
|
||||
|
||||
from cereal import custom
|
||||
from opendbc.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
|
||||
@@ -125,10 +126,10 @@ class CarInterfaceBase(ABC):
|
||||
|
||||
self.params_memory = Params(memory=True)
|
||||
|
||||
def apply(self, c: structs.CarControl, now_nanos: int | None = None) -> tuple[structs.CarControl.Actuators, list[CanData]]:
|
||||
def apply(self, c: structs.CarControl, now_nanos: int | None = None, frogpilot_toggles: SimpleNamespace = None) -> tuple[structs.CarControl.Actuators, list[CanData]]:
|
||||
if now_nanos is None:
|
||||
now_nanos = int(time.monotonic() * 1e9)
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
return self.CC.update(c, self.CS, now_nanos, frogpilot_toggles)
|
||||
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
||||
@@ -139,11 +140,11 @@ class CarInterfaceBase(ABC):
|
||||
"""
|
||||
Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
|
||||
"""
|
||||
return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False)
|
||||
return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False, None)
|
||||
|
||||
@classmethod
|
||||
def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw],
|
||||
alpha_long: bool, is_release: bool, docs: bool) -> structs.CarParams:
|
||||
alpha_long: bool, is_release: bool, docs: bool, frogpilot_toggles: SimpleNamespace) -> structs.CarParams:
|
||||
ret = CarInterfaceBase.get_std_params(candidate)
|
||||
|
||||
platform = PLATFORMS[candidate]
|
||||
@@ -172,7 +173,7 @@ class CarInterfaceBase(ABC):
|
||||
|
||||
# FrogPilot variables
|
||||
@classmethod
|
||||
def get_frogpilot_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], CP: structs.CarParams):
|
||||
def get_frogpilot_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], CP: structs.CarParams, frogpilot_toggles: SimpleNamespace):
|
||||
fp_ret = custom.FrogPilotCarParams.new_message()
|
||||
|
||||
platform = PLATFORMS[candidate]
|
||||
@@ -282,14 +283,14 @@ class CarInterfaceBase(ABC):
|
||||
tune.torque.latAccelOffset = 0.0
|
||||
tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
|
||||
|
||||
def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.CarState:
|
||||
def update(self, can_packets: list[tuple[int, list[CanData]]], frogpilot_toggles: SimpleNamespace) -> structs.CarState:
|
||||
# parse can
|
||||
for cp in self.can_parsers.values():
|
||||
if cp is not None:
|
||||
cp.update(can_packets)
|
||||
|
||||
# get CarState
|
||||
ret, fp_ret = self.CS.update(self.can_parsers)
|
||||
ret, fp_ret = self.CS.update(self.can_parsers, frogpilot_toggles)
|
||||
|
||||
ret.canValid = all(cp.can_valid for cp in self.can_parsers.values())
|
||||
ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers.values())
|
||||
@@ -348,7 +349,7 @@ class CarStateBase(ABC):
|
||||
self.CC: structs.CarControl = structs.CarControl.new_message()
|
||||
|
||||
@abstractmethod
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
pass
|
||||
|
||||
def parse_wheel_speeds(self, cs, fl, fr, rl, rr, unit=CV.KPH_TO_MS):
|
||||
|
||||
@@ -15,7 +15,7 @@ class CarController(CarControllerBase):
|
||||
self.packer = CANPacker(dbc_names[Bus.pt])
|
||||
self.brake_counter = 0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
can_sends = []
|
||||
|
||||
apply_torque = 0
|
||||
|
||||
@@ -21,7 +21,7 @@ class CarState(CarStateBase):
|
||||
|
||||
self.distance_button = 0
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
|
||||
@@ -2,5 +2,5 @@ from opendbc.car.interfaces import CarControllerBase
|
||||
|
||||
|
||||
class CarController(CarControllerBase):
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
return CC.actuators.as_builder(), []
|
||||
|
||||
@@ -17,7 +17,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
self.packer = CANPacker(dbc_names[Bus.pt])
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||
|
||||
@@ -27,7 +27,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# FrogPilot variables
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
cp_adas = can_parsers[Bus.adas]
|
||||
|
||||
@@ -13,7 +13,7 @@ class CarController(CarControllerBase):
|
||||
self.apply_angle_last = 0
|
||||
self.status = 2
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
can_sends = []
|
||||
actuators = CC.actuators
|
||||
|
||||
|
||||
@@ -10,7 +10,7 @@ TransmissionType = structs.CarParams.TransmissionType
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.main]
|
||||
cp_adas = can_parsers[Bus.adas]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
@@ -15,7 +15,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
self.cancel_frames = 0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
can_sends = []
|
||||
|
||||
|
||||
@@ -18,7 +18,7 @@ class CarState(CarStateBase):
|
||||
self.sccm_wheel_touch = None
|
||||
self.vdm_adas_status = None
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
cp_adas = can_parsers[Bus.adas]
|
||||
|
||||
@@ -27,7 +27,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
# FrogPilot variables
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||
|
||||
@@ -16,7 +16,7 @@ class CarState(CarStateBase):
|
||||
|
||||
self.angle_rate_calulator = CanSignalRateCalculator(50)
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
cp_alt = can_parsers[Bus.alt]
|
||||
|
||||
@@ -25,7 +25,7 @@ class CarController(CarControllerBase):
|
||||
# Vehicle model used for lateral limiting
|
||||
self.VM = VehicleModel(get_safety_CP())
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
can_sends = []
|
||||
|
||||
|
||||
@@ -31,7 +31,7 @@ class CarState(CarStateBase):
|
||||
self.autopark_prev = autopark_now
|
||||
self.cruise_enabled_prev = cruise_enabled
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp_party = can_parsers[Bus.party]
|
||||
cp_ap_party = can_parsers[Bus.ap_party]
|
||||
ret = structs.CarState()
|
||||
|
||||
@@ -82,7 +82,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
# FrogPilot variables
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
hud_control = CC.hudControl
|
||||
|
||||
@@ -56,7 +56,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# FrogPilot variables
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
|
||||
@@ -32,7 +32,7 @@ class CarController(CarControllerBase):
|
||||
self.hca_frame_timer_running = 0
|
||||
self.hca_frame_same_torque = 0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
can_sends = []
|
||||
|
||||
@@ -43,7 +43,7 @@ class CarState(CarStateBase):
|
||||
|
||||
return button_events
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
def update(self, can_parsers, frogpilot_toggles) -> structs.CarState:
|
||||
pt_cp = can_parsers[Bus.pt]
|
||||
cam_cp = can_parsers[Bus.cam]
|
||||
ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
|
||||
|
||||
+13
-6
@@ -21,6 +21,7 @@ from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
|
||||
from openpilot.selfdrive.car.cruise import VCruiseHelper
|
||||
from openpilot.selfdrive.car.car_specific import MockCarState
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles, update_frogpilot_toggles
|
||||
from openpilot.frogpilot.controls.frogpilot_card import FrogPilotCard
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
@@ -104,7 +105,7 @@ class Car:
|
||||
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
|
||||
cached_params = _cached_params
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params)
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, get_frogpilot_toggles())
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
|
||||
self.CP = self.CI.CP
|
||||
|
||||
@@ -171,10 +172,14 @@ class Car:
|
||||
self.resume_prev_button = False
|
||||
|
||||
# FrogPilot variables
|
||||
self.frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
fpcp_bytes = self.FPCP.to_bytes()
|
||||
self.params.put("FrogPilotCarParams", fpcp_bytes)
|
||||
self.params.put_nonblocking("FrogPilotCarParamsPersistent", fpcp_bytes)
|
||||
|
||||
update_frogpilot_toggles()
|
||||
|
||||
self.frogpilot_card = FrogPilotCard(self.CP, self.FPCP)
|
||||
|
||||
self.sm = self.sm.extend(['frogpilotOnroadEvents', 'frogpilotPlan', 'frogpilotSelfdriveState', 'liveCalibration', 'selfdriveState'])
|
||||
@@ -187,7 +192,7 @@ class Car:
|
||||
can_list = can_capnp_to_list(can_strs)
|
||||
|
||||
# Update carState from CAN
|
||||
CS, FPCS = self.CI.update(can_list)
|
||||
CS, FPCS = self.CI.update(can_list, self.frogpilot_toggles)
|
||||
if self.CP.brand == 'mock':
|
||||
CS, FPCS = self.mock_carstate.update(CS, FPCS)
|
||||
|
||||
@@ -205,10 +210,10 @@ class Car:
|
||||
if can_rcv_valid and REPLAY:
|
||||
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
|
||||
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
|
||||
self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric, self.frogpilot_toggles)
|
||||
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
|
||||
# Use CarState w/ buttons from the step selfdrived enables on
|
||||
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.resume_prev_button)
|
||||
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.resume_prev_button, self.frogpilot_toggles)
|
||||
|
||||
# TODO: mirror the carState.cruiseState struct?
|
||||
CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
|
||||
@@ -221,7 +226,7 @@ class Car:
|
||||
self.resume_prev_button = False
|
||||
|
||||
# FrogPilot variables
|
||||
FPCS = self.frogpilot_card.update(CS, FPCS, self.sm)
|
||||
FPCS = self.frogpilot_card.update(CS, FPCS, self.sm, self.frogpilot_toggles)
|
||||
|
||||
return CS, RD, FPCS
|
||||
|
||||
@@ -274,7 +279,7 @@ class Car:
|
||||
if self.sm.all_alive(['carControl']):
|
||||
# send car controls over can
|
||||
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
|
||||
self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
|
||||
self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos, self.frogpilot_toggles)
|
||||
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
|
||||
|
||||
self.CC_prev = CC
|
||||
@@ -295,6 +300,8 @@ class Car:
|
||||
# FrogPilot variables
|
||||
self.CI.CS.CC = self.sm['carControl']
|
||||
|
||||
self.frogpilot_toggles = get_frogpilot_toggles(self.sm)
|
||||
|
||||
def params_thread(self, evt):
|
||||
while not evt.is_set():
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
import math
|
||||
import numpy as np
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
from cereal import car
|
||||
from opendbc.car.gm.values import CC_ONLY_CAR, GMFlags
|
||||
from openpilot.common.constants import CV
|
||||
@@ -45,13 +47,13 @@ class VCruiseHelper:
|
||||
def v_cruise_initialized(self):
|
||||
return self.v_cruise_kph != V_CRUISE_UNSET
|
||||
|
||||
def update_v_cruise(self, CS, enabled, is_metric):
|
||||
def update_v_cruise(self, CS, enabled, is_metric, frogpilot_toggles):
|
||||
self.v_cruise_kph_last = self.v_cruise_kph
|
||||
|
||||
if CS.cruiseState.available:
|
||||
if self.gm_cc_only or not self.CP.pcmCruise:
|
||||
# if stock cruise is completely disabled, then we can use our own set speed logic
|
||||
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
|
||||
self._update_v_cruise_non_pcm(CS, enabled, is_metric, frogpilot_toggles)
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
self.update_button_timers(CS, enabled)
|
||||
else:
|
||||
@@ -67,7 +69,7 @@ class VCruiseHelper:
|
||||
self.v_cruise_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_cluster_kph = V_CRUISE_UNSET
|
||||
|
||||
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
|
||||
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, frogpilot_toggles):
|
||||
# handle button presses. TODO: this should be in state_control, but a decelCruise press
|
||||
# would have the effect of both enabling and changing speed is checked after the state transition
|
||||
if not enabled:
|
||||
@@ -129,7 +131,7 @@ class VCruiseHelper:
|
||||
self.button_timers[b.type.raw] = 1 if b.pressed else 0
|
||||
self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
|
||||
|
||||
def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev_button: bool) -> None:
|
||||
def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev_button: bool, frogpilot_toggles: SimpleNamespace) -> None:
|
||||
# initializing is handled by the PCM
|
||||
if self.CP.pcmCruise and not self.gm_cc_only:
|
||||
return
|
||||
|
||||
Executable → Regular
+8
-2
@@ -20,6 +20,8 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
|
||||
from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
|
||||
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
State = log.SelfdriveState.OpenpilotState
|
||||
LaneChangeState = log.LaneChangeState
|
||||
LaneChangeDirection = log.LaneChangeDirection
|
||||
@@ -62,6 +64,8 @@ class Controls:
|
||||
# FrogPilot variables
|
||||
self.sm = self.sm.extend(['liveDelay', 'frogpilotCarState', 'frogpilotPlan'])
|
||||
|
||||
self.frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
def update(self):
|
||||
self.sm.update(15)
|
||||
if self.sm.updated["liveCalibration"]:
|
||||
@@ -71,6 +75,7 @@ class Controls:
|
||||
self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
|
||||
|
||||
# FrogPilot variables
|
||||
self.frogpilot_toggles = get_frogpilot_toggles(self.sm)
|
||||
|
||||
def state_control(self):
|
||||
CS = self.sm['carState']
|
||||
@@ -118,7 +123,7 @@ class Controls:
|
||||
|
||||
# accel PID loop
|
||||
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
|
||||
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
|
||||
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits, self.frogpilot_toggles))
|
||||
|
||||
# Steering PID loop and lateral MPC
|
||||
# Reset desired curvature to current to avoid violating the limits on engage
|
||||
@@ -129,7 +134,8 @@ class Controls:
|
||||
actuators.curvature = self.desired_curvature
|
||||
steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
|
||||
self.steer_limited_by_safety, self.desired_curvature,
|
||||
curvature_limited, lat_delay)
|
||||
curvature_limited, lat_delay,
|
||||
self.frogpilot_toggles)
|
||||
actuators.torque = float(steer)
|
||||
actuators.steeringAngleDeg = float(steeringAngleDeg)
|
||||
|
||||
|
||||
@@ -48,7 +48,7 @@ class DesireHelper:
|
||||
def get_lane_change_direction(CS):
|
||||
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan):
|
||||
def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
|
||||
v_ego = carstate.vEgo
|
||||
one_blinker = carstate.leftBlinker != carstate.rightBlinker
|
||||
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import numpy as np
|
||||
from abc import abstractmethod, ABC
|
||||
from types import SimpleNamespace
|
||||
|
||||
|
||||
class LatControl(ABC):
|
||||
@@ -13,7 +14,7 @@ class LatControl(ABC):
|
||||
self.steer_max = 1.0
|
||||
|
||||
@abstractmethod
|
||||
def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, curvature_limited: bool, lat_delay: float):
|
||||
def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, curvature_limited: bool, lat_delay: float, frogpilot_toggles: SimpleNamespace):
|
||||
pass
|
||||
|
||||
def reset(self):
|
||||
|
||||
@@ -13,7 +13,7 @@ class LatControlAngle(LatControl):
|
||||
self.sat_check_min_speed = 5.
|
||||
self.use_steer_limited_by_safety = CP.brand == "tesla"
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, frogpilot_toggles):
|
||||
angle_log = log.ControlsState.LateralAngleState.new_message()
|
||||
|
||||
if not active:
|
||||
|
||||
@@ -14,7 +14,7 @@ class LatControlPID(LatControl):
|
||||
self.ff_factor = CP.lateralTuning.pid.kf
|
||||
self.get_steer_feedforward = CI.get_steer_feedforward_function()
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, frogpilot_toggles):
|
||||
pid_log = log.ControlsState.LateralPIDState.new_message()
|
||||
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
|
||||
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
|
||||
|
||||
@@ -54,7 +54,7 @@ class LatControlTorque(LatControl):
|
||||
self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
|
||||
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, frogpilot_toggles):
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
pid_log.version = VERSION
|
||||
if not active:
|
||||
|
||||
@@ -11,7 +11,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def long_control_state_trans(CP, active, long_control_state, v_ego,
|
||||
should_stop, brake_pressed, cruise_standstill):
|
||||
should_stop, brake_pressed, cruise_standstill, frogpilot_toggles):
|
||||
stopping_condition = should_stop
|
||||
starting_condition = (not should_stop and
|
||||
not cruise_standstill and
|
||||
@@ -56,14 +56,14 @@ class LongControl:
|
||||
def reset(self):
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, active, CS, a_target, should_stop, accel_limits):
|
||||
def update(self, active, CS, a_target, should_stop, accel_limits, frogpilot_toggles):
|
||||
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
|
||||
self.pid.neg_limit = accel_limits[0]
|
||||
self.pid.pos_limit = accel_limits[1]
|
||||
|
||||
self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
|
||||
should_stop, CS.brakePressed,
|
||||
CS.cruiseState.standstill)
|
||||
CS.cruiseState.standstill, frogpilot_toggles)
|
||||
if self.long_control_state == LongCtrlState.off:
|
||||
self.reset()
|
||||
output_accel = 0.
|
||||
|
||||
@@ -70,7 +70,7 @@ class LongitudinalPlanner:
|
||||
self.solverExecutionTime = 0.0
|
||||
|
||||
@staticmethod
|
||||
def parse_model(model_msg):
|
||||
def parse_model(model_msg, frogpilot_toggles):
|
||||
if (len(model_msg.position.x) == ModelConstants.IDX_N and
|
||||
len(model_msg.velocity.x) == ModelConstants.IDX_N and
|
||||
len(model_msg.acceleration.x) == ModelConstants.IDX_N):
|
||||
@@ -92,7 +92,7 @@ class LongitudinalPlanner:
|
||||
|
||||
return x, v, a, j, throttle_prob
|
||||
|
||||
def update(self, sm):
|
||||
def update(self, sm, frogpilot_toggles):
|
||||
mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
|
||||
if len(sm['carControl'].orientationNED) == 3:
|
||||
@@ -129,7 +129,7 @@ class LongitudinalPlanner:
|
||||
|
||||
# Prevent divergence, smooth in current v_ego
|
||||
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
|
||||
x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'])
|
||||
x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], frogpilot_toggles)
|
||||
# Don't clip at low speeds since throttle_prob doesn't account for creep
|
||||
self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
|
||||
|
||||
|
||||
@@ -7,6 +7,8 @@ from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
|
||||
import cereal.messaging as messaging
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
|
||||
def main():
|
||||
config_realtime_process(5, Priority.CTRL_LOW)
|
||||
@@ -25,10 +27,12 @@ def main():
|
||||
# FrogPilot variables
|
||||
sm = sm.extend(['frogpilotCarState', 'frogpilotPlan'])
|
||||
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
if sm.updated['modelV2']:
|
||||
longitudinal_planner.update(sm)
|
||||
longitudinal_planner.update(sm, frogpilot_toggles)
|
||||
longitudinal_planner.publish(sm, pm)
|
||||
|
||||
ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
|
||||
@@ -39,6 +43,7 @@ def main():
|
||||
pm.send('driverAssistance', msg)
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from collections import deque
|
||||
from types import SimpleNamespace
|
||||
from typing import Any
|
||||
|
||||
import capnp
|
||||
@@ -12,6 +13,8 @@ from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.simple_kalman import KF1D
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
|
||||
# Default lead acceleration decay set to 50% at 1s
|
||||
_LEAD_ACCEL_TAU = 1.5
|
||||
@@ -119,7 +122,7 @@ def laplacian_pdf(x: float, mu: float, b: float):
|
||||
return math.exp(-abs(x-mu)/b)
|
||||
|
||||
|
||||
def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
|
||||
def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], frogpilot_toggles: SimpleNamespace):
|
||||
# FrogPilot variables
|
||||
|
||||
offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
|
||||
@@ -163,10 +166,12 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
|
||||
|
||||
|
||||
def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
|
||||
model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
|
||||
model_v_ego: float,
|
||||
frogpilot_toggles: SimpleNamespace,
|
||||
low_speed_override: bool = True) -> dict[str, Any]:
|
||||
# Determine leads, this is where the essential logic happens
|
||||
if len(tracks) > 0 and ready and lead_msg.prob > .5:
|
||||
track = match_vision_to_track(v_ego, lead_msg, tracks)
|
||||
track = match_vision_to_track(v_ego, lead_msg, tracks, frogpilot_toggles)
|
||||
else:
|
||||
track = None
|
||||
|
||||
@@ -212,6 +217,8 @@ class RadarD:
|
||||
# FrogPilot variables
|
||||
self.frogpilot_radar_state = custom.FrogPilotRadarState.new_message()
|
||||
|
||||
self.frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
def update(self, sm: messaging.SubMaster, rr: car.RadarData):
|
||||
self.ready = sm.seen['modelV2']
|
||||
self.current_time = 1e-9*max(sm.logMonoTime.values())
|
||||
@@ -253,10 +260,11 @@ class RadarD:
|
||||
model_v_ego = self.v_ego
|
||||
leads_v3 = sm['modelV2'].leadsV3
|
||||
if len(leads_v3) > 1:
|
||||
self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
|
||||
self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
|
||||
self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.frogpilot_toggles, low_speed_override=True)
|
||||
self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.frogpilot_toggles, low_speed_override=False)
|
||||
|
||||
# FrogPilot variables
|
||||
self.frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
def publish(self, pm: messaging.PubMaster):
|
||||
assert self.radar_state is not None
|
||||
|
||||
@@ -13,6 +13,8 @@ from openpilot.common.realtime import config_realtime_process
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
BLOCK_SIZE = 100
|
||||
BLOCK_NUM = 50
|
||||
BLOCK_NUM_NEEDED = 5
|
||||
@@ -377,6 +379,8 @@ def main():
|
||||
# FrogPilot variables
|
||||
sm = sm.extend(['frogpilotPlan'])
|
||||
|
||||
lag_learner.frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
if sm.all_checks():
|
||||
@@ -397,3 +401,4 @@ def main():
|
||||
params.put_nonblocking("LiveDelay", lag_msg_dat)
|
||||
|
||||
# FrogPilot variables
|
||||
lag_learner.frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
@@ -12,6 +12,8 @@ from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
|
||||
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s
|
||||
ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits
|
||||
ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10)
|
||||
@@ -286,6 +288,8 @@ def main():
|
||||
# FrogPilot variables
|
||||
sm = sm.extend(['frogpilotPlan'])
|
||||
|
||||
learner.frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
if sm.all_checks():
|
||||
@@ -304,6 +308,7 @@ def main():
|
||||
pm.send('liveParameters', msg_dat)
|
||||
|
||||
# FrogPilot variables
|
||||
learner.frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -12,6 +12,8 @@ from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
HISTORY = 5 # secs
|
||||
POINTS_PER_BUCKET = 1500
|
||||
MIN_POINTS_TOTAL = 4000
|
||||
@@ -254,6 +256,10 @@ def main(demo=False):
|
||||
# FrogPilot variables
|
||||
sm = sm.extend(['frogpilotPlan'])
|
||||
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
estimator.frogpilot_toggles = frogpilot_toggles
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
if sm.all_checks():
|
||||
@@ -272,6 +278,7 @@ def main(demo=False):
|
||||
params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
|
||||
|
||||
# FrogPilot variables
|
||||
estimator.frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -31,6 +31,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
|
||||
from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
@@ -226,6 +228,7 @@ def main(demo=False):
|
||||
cloudlog.warning("modeld init")
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
if not USBGPU:
|
||||
# USB GPU currently saturates a core so can't do this yet,
|
||||
@@ -393,7 +396,7 @@ def main(demo=False):
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'])
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'], frogpilot_toggles)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
|
||||
@@ -411,6 +414,7 @@ def main(demo=False):
|
||||
last_vipc_frame_id = meta_main.frame_id
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Executable → Regular
+25
-24
@@ -4,6 +4,7 @@ import math
|
||||
import os
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
from types import SimpleNamespace
|
||||
|
||||
from cereal import log, car, custom
|
||||
import cereal.messaging as messaging
|
||||
@@ -234,31 +235,31 @@ AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster,
|
||||
|
||||
|
||||
def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
|
||||
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
if soft_disable_time < int(0.5 / DT_CTRL):
|
||||
return ImmediateDisableAlert(alert_text_2)
|
||||
return SoftDisableAlert(alert_text_2)
|
||||
return func
|
||||
|
||||
def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
|
||||
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
if soft_disable_time < int(0.5 / DT_CTRL):
|
||||
return ImmediateDisableAlert(alert_text_2)
|
||||
return UserSoftDisableAlert(alert_text_2)
|
||||
return func
|
||||
|
||||
def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
branch = get_short_branch() # Ensure get_short_branch is cached to avoid lags on startup
|
||||
if "REPLAY" in os.environ:
|
||||
branch = "replay"
|
||||
|
||||
return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
|
||||
|
||||
def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
|
||||
|
||||
|
||||
def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
return Alert(
|
||||
f"Steer Assist Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
|
||||
"",
|
||||
@@ -266,7 +267,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
|
||||
|
||||
|
||||
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
|
||||
return Alert(
|
||||
f"{first_word}: {sm['liveCalibration'].calPerc:.0f}%",
|
||||
@@ -275,7 +276,7 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
|
||||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
|
||||
|
||||
|
||||
def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
|
||||
return NormalPermanentAlert(
|
||||
"Recording Audio Feedback",
|
||||
@@ -285,37 +286,37 @@ def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
|
||||
|
||||
# *** debug alerts ***
|
||||
|
||||
def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
full_perc = round(100. - sm['deviceState'].freeSpacePercent)
|
||||
return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
|
||||
|
||||
|
||||
def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
|
||||
err = CS.vEgo - mdl
|
||||
msg = f"Speed Error: {err:.1f} m/s"
|
||||
return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid")
|
||||
|
||||
|
||||
def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
|
||||
msg = ', '.join(not_running)
|
||||
return NoEntryAlert(msg, alert_text_1="Process Not Running")
|
||||
|
||||
|
||||
def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
|
||||
msg = ', '.join(bs[:4]) # can't fit too many on one line
|
||||
return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
|
||||
|
||||
|
||||
def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
|
||||
bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
|
||||
return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
|
||||
|
||||
|
||||
def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
rpy = sm['liveCalibration'].rpyCalib
|
||||
yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
|
||||
pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
|
||||
@@ -323,7 +324,7 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
|
||||
return NormalPermanentAlert("Calibration Invalid", angles)
|
||||
|
||||
|
||||
def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
if not sm['liveParameters'].angleOffsetValid:
|
||||
angle_offset_deg = sm['liveParameters'].angleOffsetDeg
|
||||
title = "Steering misalignment detected"
|
||||
@@ -341,41 +342,41 @@ def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.Sub
|
||||
|
||||
return NoEntryAlert(alert_text_1=title, alert_text_2=text)
|
||||
|
||||
def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
cpu = max(sm['deviceState'].cpuTempC, default=0.)
|
||||
gpu = max(sm['deviceState'].gpuTempC, default=0.)
|
||||
temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
|
||||
return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C")
|
||||
|
||||
|
||||
def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
|
||||
|
||||
|
||||
def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
x = max(sm['deviceState'].cpuUsagePercent, default=0.)
|
||||
return NormalPermanentAlert("High CPU Usage", f"{x}% used")
|
||||
|
||||
|
||||
def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
|
||||
|
||||
|
||||
def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
text = "Enable Adaptive Cruise to Engage"
|
||||
if CP.brand == "honda":
|
||||
text = "Enable Main Switch to Engage"
|
||||
return NoEntryAlert(text)
|
||||
|
||||
|
||||
def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
gb = sm['carControl'].actuators.accel / 4.
|
||||
steer = sm['carControl'].actuators.torque
|
||||
vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
|
||||
return NormalPermanentAlert("Joystick Mode", vals)
|
||||
|
||||
|
||||
def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
ad = sm['alertDebug']
|
||||
audible_alert = AudibleAlert.prompt if 'Active' in ad.alertText1 else AudibleAlert.none
|
||||
alert_status = AlertStatus.userPrompt if 'Active' in ad.alertText1 else AlertStatus.normal
|
||||
@@ -385,12 +386,12 @@ def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messagi
|
||||
Priority.LOW, VisualAlert.none, audible_alert, 0.2)
|
||||
|
||||
|
||||
def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
personality = str(personality).title()
|
||||
return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
|
||||
|
||||
|
||||
def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
text = "Toggle stock LKAS on or off to engage"
|
||||
if CP.brand == "tesla":
|
||||
text = "Switch to Traffic-Aware Cruise Control to engage"
|
||||
@@ -402,7 +403,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
|
||||
|
||||
|
||||
# FrogPilot variables
|
||||
def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, frogpilot_toggles: SimpleNamespace) -> Alert:
|
||||
return StartupAlert(frogpilot_toggles.startup_alert_top, frogpilot_toggles.startup_alert_bottom, alert_status=FrogPilotAlertStatus.frogpilot)
|
||||
|
||||
|
||||
|
||||
@@ -25,6 +25,7 @@ from openpilot.system.version import get_build_metadata
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_utilities import contains_event_type
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
@@ -148,6 +149,8 @@ class SelfdriveD:
|
||||
self.sm = self.sm.extend(['frogpilotCarState', 'frogpilotPlan'])
|
||||
self.pm = self.pm.extend(['frogpilotOnroadEvents', 'frogpilotSelfdriveState'])
|
||||
|
||||
self.frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
self.frogpilot_AM = AlertManager()
|
||||
self.frogpilot_events = Events(frogpilot=True)
|
||||
|
||||
@@ -482,7 +485,8 @@ class SelfdriveD:
|
||||
|
||||
pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
|
||||
alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric,
|
||||
self.state_machine.soft_disable_timer, pers])
|
||||
self.state_machine.soft_disable_timer, pers,
|
||||
self.frogpilot_toggles])
|
||||
self.AM.add_many(self.sm.frame, alerts)
|
||||
self.AM.process_alerts(self.sm.frame, clear_event_types)
|
||||
|
||||
@@ -556,6 +560,7 @@ class SelfdriveD:
|
||||
self.CS_prev = CS
|
||||
|
||||
# FrogPilot variables
|
||||
self.frogpilot_toggles = get_frogpilot_toggles(self.sm)
|
||||
|
||||
def params_thread(self, evt):
|
||||
while not evt.is_set():
|
||||
|
||||
@@ -63,12 +63,14 @@ void HomeWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
|
||||
|
||||
// FrogPilot variables
|
||||
const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
const QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
}
|
||||
|
||||
void HomeWindow::offroadTransition(bool offroad) {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIState &fs = *frogpilotUIState();
|
||||
FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
body->setEnabled(false);
|
||||
sidebar->setVisible(offroad);
|
||||
@@ -251,4 +253,5 @@ void OffroadHome::refresh() {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIState &fs = *frogpilotUIState();
|
||||
FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
}
|
||||
|
||||
@@ -212,6 +212,15 @@ void TogglesPanel::updateToggles() {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIState &fs = *frogpilotUIState();
|
||||
FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"];
|
||||
disengage_on_accelerator_toggle->setVisible(!frogpilot_toggles.value("always_on_lateral").toBool());
|
||||
auto driver_camera_toggle = toggles["RecordFront"];
|
||||
driver_camera_toggle->setVisible(!frogpilot_toggles.value("no_logging").toBool());
|
||||
experimental_mode_toggle->setVisible(!frogpilot_toggles.value("conditional_experimental_mode").toBool());
|
||||
auto record_audio_toggle = toggles["RecordAudio"];
|
||||
record_audio_toggle->setVisible(!frogpilot_toggles.value("no_logging").toBool());
|
||||
}
|
||||
|
||||
DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
@@ -426,6 +435,8 @@ void SettingsWindow::hideEvent(QHideEvent *event) {
|
||||
subPanelOpen = false;
|
||||
subSubPanelOpen = false;
|
||||
subSubSubPanelOpen = false;
|
||||
|
||||
updateFrogPilotToggles();
|
||||
}
|
||||
|
||||
void SettingsWindow::setCurrentPanel(int index, const QString ¶m) {
|
||||
|
||||
@@ -15,6 +15,8 @@ public:
|
||||
// FrogPilot variables
|
||||
int alertHeight;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
protected:
|
||||
struct Alert {
|
||||
QString text1;
|
||||
|
||||
@@ -146,6 +146,11 @@ void AnnotatedCameraWidget::paintGL() {
|
||||
experimental_btn->frogpilot_scene = frogpilot_scene;
|
||||
model.frogpilot_scene = frogpilot_scene;
|
||||
|
||||
dmon.frogpilot_toggles = frogpilot_toggles;
|
||||
experimental_btn->frogpilot_toggles = frogpilot_toggles;
|
||||
hud.frogpilot_toggles = frogpilot_toggles;
|
||||
model.frogpilot_toggles = frogpilot_toggles;
|
||||
|
||||
model.draw(painter, rect());
|
||||
dmon.draw(painter, rect());
|
||||
hud.updateState(*s);
|
||||
|
||||
@@ -22,6 +22,8 @@ public:
|
||||
|
||||
FrogPilotUIScene frogpilot_scene;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
private:
|
||||
QVBoxLayout *main_layout;
|
||||
ExperimentalButton *experimental_btn;
|
||||
|
||||
@@ -17,6 +17,8 @@ public:
|
||||
// FrogPilot variables
|
||||
FrogPilotUIScene frogpilot_scene;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
private:
|
||||
void paintEvent(QPaintEvent *event) override;
|
||||
void changeMode();
|
||||
|
||||
@@ -15,6 +15,8 @@ public:
|
||||
// FrogPilot variables
|
||||
FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
private:
|
||||
float driver_pose_vals[3] = {};
|
||||
float driver_pose_diff[3] = {};
|
||||
|
||||
@@ -16,6 +16,8 @@ public:
|
||||
// FrogPilot variables
|
||||
FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
private:
|
||||
void drawSetSpeed(QPainter &p, const QRect &surface_rect);
|
||||
void drawCurrentSpeed(QPainter &p, const QRect &surface_rect);
|
||||
|
||||
@@ -18,6 +18,8 @@ public:
|
||||
|
||||
FrogPilotUIScene frogpilot_scene;
|
||||
|
||||
QJsonObject frogpilot_toggles;
|
||||
|
||||
private:
|
||||
bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
|
||||
void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
|
||||
|
||||
@@ -68,6 +68,7 @@ void OnroadWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
|
||||
|
||||
// FrogPilot variables
|
||||
const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
const QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
frogpilot_nvg->alertHeight = alerts->alertHeight;
|
||||
|
||||
@@ -79,6 +80,11 @@ void OnroadWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
|
||||
frogpilot_nvg->frogpilot_scene = frogpilot_scene;
|
||||
frogpilot_onroad->frogpilot_scene = frogpilot_scene;
|
||||
|
||||
alerts->frogpilot_toggles = frogpilot_toggles;
|
||||
frogpilot_nvg->frogpilot_toggles = frogpilot_toggles;
|
||||
frogpilot_onroad->frogpilot_toggles = frogpilot_toggles;
|
||||
nvg->frogpilot_toggles = frogpilot_toggles;
|
||||
|
||||
frogpilot_onroad->setGeometry(rect());
|
||||
|
||||
frogpilot_nvg->updateState(s, fs);
|
||||
|
||||
@@ -48,6 +48,7 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIState *fs = frogpilotUIState();
|
||||
FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
if (onroad && home_btn.contains(event->pos())) {
|
||||
flag_pressed = true;
|
||||
@@ -87,6 +88,7 @@ void Sidebar::updateState(const UIState &s, const FrogPilotUIState &fs) {
|
||||
|
||||
// FrogPilot variables
|
||||
const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
const QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
const SubMaster &fpsm = *(fs.sm);
|
||||
|
||||
@@ -157,6 +159,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIState *fs = frogpilotUIState();
|
||||
FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
// network
|
||||
int x = 58;
|
||||
|
||||
@@ -82,6 +82,7 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIState &fs = *frogpilotUIState();
|
||||
FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
bool ignore = false;
|
||||
switch (event->type()) {
|
||||
|
||||
@@ -15,6 +15,8 @@ from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system import micd
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
SAMPLE_RATE = 48000
|
||||
SAMPLE_BUFFER = 4096 # (approx 100ms)
|
||||
MAX_VOLUME = 1.0
|
||||
@@ -81,6 +83,8 @@ class Soundd:
|
||||
# FrogPilot variables
|
||||
self.params_memory = Params(memory=True)
|
||||
|
||||
self.frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
self.update_frogpilot_sounds()
|
||||
|
||||
def load_sounds(self):
|
||||
@@ -185,6 +189,11 @@ class Soundd:
|
||||
assert stream.active
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
if frogpilot_toggles != self.frogpilot_toggles:
|
||||
self.frogpilot_toggles = frogpilot_toggles
|
||||
|
||||
self.update_frogpilot_sounds()
|
||||
|
||||
def update_frogpilot_sounds(self):
|
||||
|
||||
|
||||
@@ -87,6 +87,7 @@ void ui_update_params(UIState *s) {
|
||||
void UIState::updateStatus(FrogPilotUIState *fs) {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
if (scene.started && sm->updated("selfdriveState")) {
|
||||
auto ss = (*sm)["selfdriveState"].getSelfdriveState();
|
||||
@@ -149,6 +150,7 @@ void UIState::update() {
|
||||
// FrogPilot variables
|
||||
FrogPilotUIState *fs = frogpilotUIState();
|
||||
FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
|
||||
QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
if (frogpilot_scene.frogpilot_panel_active) {
|
||||
device()->resetInteractiveTimeout();
|
||||
@@ -190,6 +192,7 @@ void Device::resetInteractiveTimeout(int timeout) {
|
||||
void Device::updateBrightness(const UIState &s, const FrogPilotUIState &fs) {
|
||||
// FrogPilot variables
|
||||
const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
const QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
float clipped_brightness = offroad_brightness;
|
||||
if (s.scene.started && s.scene.light_sensor >= 0) {
|
||||
@@ -222,6 +225,7 @@ void Device::updateBrightness(const UIState &s, const FrogPilotUIState &fs) {
|
||||
void Device::updateWakefulness(const UIState &s, const FrogPilotUIState &fs) {
|
||||
// FrogPilot variables
|
||||
const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
|
||||
const QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
|
||||
|
||||
bool ignition_just_turned_off = !s.scene.ignition && ignition_on;
|
||||
ignition_on = s.scene.ignition;
|
||||
|
||||
@@ -26,6 +26,8 @@ from openpilot.system.hardware.fan_controller import TiciFanController
|
||||
from openpilot.system.version import terms_version, training_version
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
ThermalStatus = log.DeviceState.ThermalStatus
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
NetworkStrength = log.DeviceState.NetworkStrength
|
||||
@@ -216,6 +218,8 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
sm = sm.extend(['frogpilotPlan'])
|
||||
pm = pm.extend(['frogpilotDeviceState'])
|
||||
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
while not end_event.is_set():
|
||||
sm.update(PANDA_STATES_TIMEOUT)
|
||||
|
||||
@@ -404,7 +408,7 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
msg.deviceState.somPowerDrawW = som_power_draw
|
||||
|
||||
# Check if we need to shut down
|
||||
if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
|
||||
if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen, frogpilot_toggles):
|
||||
cloudlog.warning(f"shutting device down, offroad since {off_ts}")
|
||||
params.put_bool("DoShutdown", True)
|
||||
|
||||
@@ -477,6 +481,7 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
should_start_prev = should_start
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
import time
|
||||
import threading
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
@@ -105,7 +107,7 @@ class PowerMonitoring:
|
||||
return int(self.car_battery_capacity_uWh)
|
||||
|
||||
# See if we need to shutdown
|
||||
def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
|
||||
def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool, frogpilot_toggles: SimpleNamespace):
|
||||
if offroad_timestamp is None:
|
||||
return False
|
||||
|
||||
|
||||
@@ -19,6 +19,8 @@ from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
UPLOAD_ATTR_NAME = 'user.upload'
|
||||
UPLOAD_ATTR_VALUE = b'1'
|
||||
@@ -252,6 +254,8 @@ def main(exit_event: threading.Event = None) -> None:
|
||||
# FrogPilot variables
|
||||
sm = sm.extend(['frogpilotPlan'])
|
||||
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
while not exit_event.is_set():
|
||||
sm.update(0)
|
||||
offroad = params.get_bool("IsOffroad")
|
||||
@@ -273,6 +277,7 @@ def main(exit_event: threading.Event = None) -> None:
|
||||
time.sleep(backoff + random.uniform(0, backoff))
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -22,6 +22,7 @@ from openpilot.system.version import get_build_metadata, terms_version, training
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_functions import frogpilot_boot_functions, install_frogpilot, uninstall_frogpilot
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
|
||||
def manager_init() -> None:
|
||||
@@ -133,7 +134,7 @@ def manager_thread() -> None:
|
||||
pm = messaging.PubMaster(['managerState'])
|
||||
|
||||
write_onroad_params(False, params)
|
||||
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
|
||||
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, frogpilot_toggles=get_frogpilot_toggles())
|
||||
|
||||
started_prev = False
|
||||
ignition_prev = False
|
||||
@@ -143,6 +144,8 @@ def manager_thread() -> None:
|
||||
|
||||
params_memory = Params(memory=True)
|
||||
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
while True:
|
||||
sm.update(1000)
|
||||
|
||||
@@ -170,7 +173,7 @@ def manager_thread() -> None:
|
||||
started_prev = started
|
||||
ignition_prev = ignition
|
||||
|
||||
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
|
||||
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, frogpilot_toggles=frogpilot_toggles)
|
||||
|
||||
running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
|
||||
for p in managed_processes.values() if p.proc)
|
||||
@@ -202,6 +205,7 @@ def manager_thread() -> None:
|
||||
break
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles(sm)
|
||||
|
||||
|
||||
def main() -> None:
|
||||
|
||||
@@ -7,6 +7,7 @@ import subprocess
|
||||
from collections.abc import Callable, ValuesView
|
||||
from abc import ABC, abstractmethod
|
||||
from multiprocessing import Process
|
||||
from types import SimpleNamespace
|
||||
|
||||
from setproctitle import setproctitle
|
||||
|
||||
@@ -66,7 +67,7 @@ def join_process(process: Process, timeout: float) -> None:
|
||||
class ManagerProcess(ABC):
|
||||
daemon = False
|
||||
sigkill = False
|
||||
should_run: Callable[[bool, Params, car.CarParams], bool]
|
||||
should_run: Callable[[bool, Params, car.CarParams, SimpleNamespace], bool]
|
||||
proc: Process | None = None
|
||||
enabled = True
|
||||
name = ""
|
||||
@@ -241,7 +242,7 @@ class DaemonProcess(ManagerProcess):
|
||||
self.params = None
|
||||
|
||||
@staticmethod
|
||||
def should_run(started, params, CP):
|
||||
def should_run(started, params, CP, frogpilot_toggles):
|
||||
return True
|
||||
|
||||
def prepare(self) -> None:
|
||||
@@ -277,13 +278,13 @@ class DaemonProcess(ManagerProcess):
|
||||
|
||||
|
||||
def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
|
||||
not_run: list[str] | None=None) -> list[ManagerProcess]:
|
||||
not_run: list[str] | None=None, frogpilot_toggles: SimpleNamespace=None) -> list[ManagerProcess]:
|
||||
if not_run is None:
|
||||
not_run = []
|
||||
|
||||
running = []
|
||||
for p in procs:
|
||||
if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
|
||||
if p.enabled and p.name not in not_run and p.should_run(started, params, CP, frogpilot_toggles):
|
||||
running.append(p)
|
||||
else:
|
||||
p.stop(block=False)
|
||||
|
||||
@@ -2,6 +2,8 @@ import os
|
||||
import operator
|
||||
import platform
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
from cereal import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.hardware import HARDWARE, PC, TICI
|
||||
@@ -9,50 +11,50 @@ from openpilot.system.manager.process import PythonProcess, NativeProcess, Daemo
|
||||
|
||||
WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
|
||||
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def driverview(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started or params.get_bool("IsDriverViewEnabled")
|
||||
|
||||
def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def notcar(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started and CP.notCar
|
||||
|
||||
def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def iscar(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started and not CP.notCar
|
||||
|
||||
def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def logging(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
run = (not CP.notCar) or not params.get_bool("DisableLogging")
|
||||
return started and run
|
||||
|
||||
def ublox_available() -> bool:
|
||||
return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
|
||||
|
||||
def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def ublox(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
use_ublox = ublox_available()
|
||||
if use_ublox != params.get_bool("UbloxAvailable"):
|
||||
params.put_bool("UbloxAvailable", use_ublox)
|
||||
return started and use_ublox
|
||||
|
||||
def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def joystick(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started and params.get_bool("JoystickDebugMode")
|
||||
|
||||
def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def not_joystick(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started and not params.get_bool("JoystickDebugMode")
|
||||
|
||||
def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def long_maneuver(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started and params.get_bool("LongitudinalManeuverMode")
|
||||
|
||||
def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def not_long_maneuver(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started and not params.get_bool("LongitudinalManeuverMode")
|
||||
|
||||
def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def qcomgps(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started and not ublox_available()
|
||||
|
||||
def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def always_run(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return True
|
||||
|
||||
def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def only_onroad(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return started
|
||||
|
||||
def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def only_offroad(started: bool, params: Params, CP: car.CarParams, frogpilot_toggles: SimpleNamespace) -> bool:
|
||||
return not started
|
||||
|
||||
def or_(*fns):
|
||||
|
||||
@@ -22,6 +22,8 @@ from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
|
||||
from openpilot.system.hardware import AGNOS, HARDWARE
|
||||
from openpilot.system.version import get_build_metadata
|
||||
|
||||
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles
|
||||
|
||||
LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
|
||||
STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
|
||||
|
||||
@@ -460,6 +462,7 @@ def main() -> None:
|
||||
wait_helper.ready_event.clear()
|
||||
|
||||
# FrogPilot variables
|
||||
frogpilot_toggles = get_frogpilot_toggles()
|
||||
|
||||
# Attempt an update
|
||||
exception = None
|
||||
|
||||
Reference in New Issue
Block a user