day2

frogpilot/controls/frogpilot_card.py

@@ -37,13 +37,13 @@ class FrogPilotCard:
   def handle_button_event(self, key, sm, frogpilot_toggles):
     if sm["carControl"].longActive and getattr(frogpilot_toggles, f"experimental_mode_via_{key}"):
       self.handle_experimental_mode(sm, frogpilot_toggles)
-    elif sm["carControl"].longActive and getattr(frogpilot_toggles, f"force_coast_via_{key}"):
+    elif getattr(frogpilot_toggles, f"force_coast_via_{key}"):
       self.force_coast = not self.force_coast
     elif getattr(frogpilot_toggles, f"pause_lateral_via_{key}"):
       self.pause_lateral = not self.pause_lateral
-    elif sm["carControl"].longActive and getattr(frogpilot_toggles, f"pause_longitudinal_via_{key}"):
+    elif getattr(frogpilot_toggles, f"pause_longitudinal_via_{key}"):
       self.pause_longitudinal = not self.pause_longitudinal
-    elif getattr(frogpilot_toggles, f"traffic_mode_via_{key}"):
+    elif sm["carControl"].longActive and getattr(frogpilot_toggles, f"traffic_mode_via_{key}"):
       self.traffic_mode_enabled = not self.traffic_mode_enabled
 
   def handle_experimental_mode(self, sm, frogpilot_toggles):
@@ -83,6 +83,8 @@ class FrogPilotCard:
     if sm.updated["frogpilotPlan"] or any(be.type == ButtonType.decelCruise for be in carState.buttonEvents):
       self.decel_pressed = any(be.type == ButtonType.decelCruise for be in carState.buttonEvents)
 
+    frogpilotCarState.distancePressed |= self.params_memory.get_bool("OnroadDistanceButtonPressed")
+
     if frogpilotCarState.distancePressed:
       self.gap_counter += 1
     elif not self.distancePressed_previously:

frogpilot/controls/lib/curve_speed_controller.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import json
+
 import numpy as np
 
 from openpilot.common.realtime import DT_MDL
@@ -21,7 +23,11 @@ class CurveSpeedController:
 
     self.training_timer = 0
 
-    self.curvature_data = self.frogpilot_planner.params.get("CurvatureData")
+    curvature_data_raw = self.frogpilot_planner.params.get("CurvatureData", encoding="utf-8")
+    try:
+      self.curvature_data = json.loads(curvature_data_raw or "{}")
+    except (TypeError, ValueError):
+      self.curvature_data = {}
 
     self.calculate_weights()
     self.update_lateral_acceleration()

frogpilot/controls/lib/speed_limit_controller.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 # PFEIFER - SLC - Modified by FrogAi for FrogPilot
 import calendar
+import json
 import numpy as np
 import requests
 
@@ -36,6 +37,7 @@ OFFSET_MAP_METRIC = [
 class SpeedLimitController:
   def __init__(self, FrogPilotVCruise):
     self.frogpilot_planner = FrogPilotVCruise.frogpilot_planner
+    self.frogpilot_toggles = None
 
     self.calling_mapbox = False
     self.override_slc = False
@@ -53,14 +55,18 @@ class SpeedLimitController:
     self.previous_source = "None"
     self.source = "None"
 
-    self.mapbox_requests = self.frogpilot_planner.params.get("MapBoxRequests")
+    mapbox_requests_raw = self.frogpilot_planner.params.get("MapBoxRequests", encoding="utf-8")
+    try:
+      self.mapbox_requests = json.loads(mapbox_requests_raw or "{}")
+    except (TypeError, ValueError):
+      self.mapbox_requests = {}
     self.mapbox_requests.setdefault("total_requests", 0)
     self.mapbox_requests.setdefault("max_requests", FREE_MAPBOX_REQUESTS - (28 * 100))
 
     self.mapbox_host = "https://api.mapbox.com"
-    self.mapbox_token = self.frogpilot_planner.params.get("MapboxSecretKey")
+    self.mapbox_token = self.frogpilot_planner.params.get("MapboxSecretKey", encoding="utf-8")
 
-    self.previous_target = self.frogpilot_planner.params.get("PreviousSpeedLimit")
+    self.previous_target = self.frogpilot_planner.params.get_float("PreviousSpeedLimit")
 
     self.executor = ThreadPoolExecutor(max_workers=1)
 
@@ -70,10 +76,12 @@ class SpeedLimitController:
 
   @property
   def experimental_mode(self):
-    return self.target == 0 and self.frogpilot_toggles.slc_fallback_experimental_mode
+    return self.target == 0 and bool(getattr(self.frogpilot_toggles, "slc_fallback_experimental_mode", False))
 
   @property
   def offset(self):
+    if self.frogpilot_toggles is None:
+      return 0
     offset_map = OFFSET_MAP_METRIC if self.frogpilot_toggles.is_metric else OFFSET_MAP_IMPERIAL
     return next((getattr(self.frogpilot_toggles, offset) for low, high, offset in offset_map if low < self.target < high), 0)
 

frogpilot/controls/lib/weather_checker.py

@@ -56,7 +56,7 @@ class WeatherChecker:
     self.last_updated = None
     self.requesting = False
 
-    self.user_api_key = self.frogpilot_planner.params.get("WeatherToken")
+    self.user_api_key = self.frogpilot_planner.params.get("WeatherToken", encoding="utf-8")
 
     if self.user_api_key:
       self.check_interval = 60