FrogPilot base

system/hardware/hardwared.py

@@ -212,6 +212,8 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = None
 
+  # FrogPilot variables
+
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
@@ -292,6 +294,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if fan_controller is not None:
       msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
+    # FrogPilot variables
+
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
@@ -341,6 +345,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if started_ts is None:
       should_start = should_start and all(startup_conditions.values())
 
+    # FrogPilot variables
+
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsEngaged", False)
       engaged_prev = False
@@ -410,6 +416,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
+    # FrogPilot variables
+
     # Log to statsd
     statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
     statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
@@ -463,6 +471,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     count += 1
     should_start_prev = should_start
 
+    # FrogPilot variables
+
 
 def main():
   hw_queue = queue.Queue(maxsize=1)

system/hardware/hw.h

@@ -26,7 +26,14 @@ namespace Path {
     if (const char *env = getenv("LOG_ROOT")) {
       return env;
     }
-    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
+
+    if (Hardware::PC()) {
+      return Path::comma_home() + "/media/0/realdata";
+    }
+
+    // FrogPilot variables
+
+    return "/data/media/0/realdata";
   }
 
   inline std::string params() {

system/loggerd/config.py

@@ -27,3 +27,6 @@ def get_available_bytes(default: int) -> int:
     available_bytes = default
 
   return available_bytes
+
+
+# FrogPilot variables

system/loggerd/uploader.py

@@ -248,6 +248,9 @@ def main(exit_event: threading.Event = None) -> None:
   uploader = Uploader(dongle_id, Paths.log_root())
 
   backoff = 0.1
+
+  # FrogPilot variables
+
   while not exit_event.is_set():
     sm.update(0)
     offroad = params.get_bool("IsOffroad")
@@ -268,6 +271,8 @@ def main(exit_event: threading.Event = None) -> None:
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   main()

system/manager/manager.py

@@ -21,6 +21,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.frogpilot.common.frogpilot_functions import frogpilot_boot_functions, install_frogpilot, uninstall_frogpilot
+
 
 def manager_init() -> None:
   save_bootlog()
@@ -38,6 +40,8 @@ def manager_init() -> None:
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
+  # FrogPilot variables
+
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)
@@ -93,6 +97,10 @@ def manager_init() -> None:
   for p in managed_processes.values():
     p.prepare()
 
+  # FrogPilot variables
+  install_frogpilot()
+  frogpilot_boot_functions()
+
 
 def manager_cleanup() -> None:
   # send signals to kill all procs
@@ -129,6 +137,8 @@ def manager_thread() -> None:
   started_prev = False
   ignition_prev = False
 
+  # FrogPilot variables
+
   while True:
     sm.update(1000)
 
@@ -136,9 +146,13 @@ def manager_thread() -> None:
 
     if started and not started_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
+
+      # FrogPilot variables
     elif not started and started_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
 
+      # FrogPilot variables
+
     ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)
     if ignition and not ignition_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
@@ -181,6 +195,8 @@ def manager_thread() -> None:
     if shutdown:
       break
 
+    # FrogPilot variables
+
 
 def main() -> None:
   manager_init()
@@ -201,7 +217,7 @@ def main() -> None:
   params = Params()
   if params.get_bool("DoUninstall"):
     cloudlog.warning("uninstalling")
-    HARDWARE.uninstall()
+    uninstall_frogpilot()
   elif params.get_bool("DoReboot"):
     cloudlog.warning("reboot")
     HARDWARE.reboot()

system/manager/process_config.py

@@ -4,7 +4,7 @@ import platform
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC, TICI
+from openpilot.system.hardware import HARDWARE, PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -61,6 +61,8 @@ def or_(*fns):
 def and_(*fns):
   return lambda *args: operator.and_(*(fn(*args) for fn in fns))
 
+# FrogPilot variables
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
@@ -80,7 +82,6 @@ procs = [
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
@@ -115,4 +116,13 @@ procs = [
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
+# FrogPilot variables
+if HARDWARE.get_device_type() == "mici":
+  procs.append(PythonProcess("ui", "selfdrive.ui.ui", always_run))
+elif TICI:
+  procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=5)),
+procs += [
+  PythonProcess("frogpilot_process", "frogpilot.frogpilot_process", always_run),
+]
+
 managed_processes = {p.name: p for p in procs}

system/timed.py

@@ -24,6 +24,9 @@ def set_time(new_time):
     cloudlog.exception("timed.failed_setting_time")
 
 
+# FrogPilot variables
+
+
 def main() -> NoReturn:
   """
     timed has two responsibilities:
@@ -38,6 +41,9 @@ def main() -> NoReturn:
 
   pm = messaging.PubMaster(['clocks'])
   sm = messaging.SubMaster([gps_location_service])
+
+  # FrogPilot variables
+
   while True:
     sm.update(1000)
 
@@ -56,6 +62,9 @@ def main() -> NoReturn:
       continue
 
     set_time(gps_time)
+
+    # FrogPilot variables
+
     time.sleep(10)
 
 if __name__ == "__main__":

system/ui/spinner.py

@@ -27,6 +27,8 @@ FONT_SIZE = 96
 LINE_HEIGHT = 104
 DARKGRAY = (55, 55, 55, 255)
 
+# FrogPilot variables
+
 
 def clamp(value, min_value, max_value):
   return max(min(value, max_value), min_value)

system/updated/updated.py

@@ -410,6 +410,7 @@ class Updater:
     finalize_update()
     cloudlog.info("finalize success!")
 
+    # FrogPilot variables
 
 def main() -> None:
   params = Params()
@@ -449,9 +450,14 @@ def main() -> None:
 
     # Run the update loop
     first_run = True
+
+    # FrogPilot variables
+
     while True:
       wait_helper.ready_event.clear()
 
+      # FrogPilot variables
+
       # Attempt an update
       exception = None
       try: