Force Drive State

selfdrive/selfdrived/selfdrived.py

@@ -344,7 +344,7 @@ class SelfdriveD:
       self.events.add(EventName.usbError)
     if CS.canTimeout:
       self.events.add(EventName.canBusMissing)
-    elif not CS.canValid:
+    elif not CS.canValid and not self.frogpilot_toggles.force_onroad:
       self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead

selfdrive/ui/qt/onroad/alerts.cc

@@ -51,7 +51,7 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, const SubMaster
     }
   }
 
-  if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
+  if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ && !frogpilot_toggles.value("force_onroad").toBool()) {
     const int SELFDRIVE_STATE_TIMEOUT = 5;
     const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
 

selfdrive/ui/ui.cc

@@ -77,6 +77,8 @@ static void update_state(UIState *s, FrogPilotUIState *fs) {
   if (scene.started) {
     frogpilot_scene.started_timer += 1;
   }
+  scene.started |= frogpilot_scene.frogpilot_toggles.value("force_onroad").toBool();
+  scene.started &= !frogpilot_scene.frogpilot_toggles.value("force_offroad").toBool();
 }
 
 void ui_update_params(UIState *s) {