Custom themes

Added toggles for the "Custom Themes" configuration. Colors, icons, sounds, and turn signal animations are all individually toggleable.

cereal/car.capnp

@@ -119,6 +119,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
 
     # FrogPilot events
     blockUser @123;
+    goatSteerSaturated @125;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -409,6 +410,9 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+
+      # Other
+      goat @16;
     }
   }
 

common/params.cc

@@ -235,13 +235,19 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStopLightsLead", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
+    {"CustomColors", PERSISTENT},
+    {"CustomIcons", PERSISTENT},
     {"CustomPaths", PERSISTENT},
     {"CustomUI", PERSISTENT},
+    {"CustomSignals", PERSISTENT},
+    {"CustomSounds", PERSISTENT},
+    {"CustomTheme", PERSISTENT},
     {"DecelerationProfile", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
     {"EngageVolume", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
+    {"GoatScream", PERSISTENT},
     {"HideAOLStatusBar", PERSISTENT},
     {"HideCEMStatusBar", PERSISTENT},
     {"LateralTune", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -648,7 +648,7 @@ class Controls:
         good_speed = CS.vEgo > 5
         max_torque = abs(actuators.steer) > 0.99
         if undershooting and turning and good_speed and max_torque:
-          lac_log.active and self.events.add(EventName.steerSaturated)
+          lac_log.active and self.events.add(EventName.goatSteerSaturated if self.goat_scream else EventName.steerSaturated)
       elif lac_log.saturated:
         # TODO probably should not use dpath_points but curvature
         dpath_points = model_v2.position.y
@@ -917,6 +917,11 @@ class Controls:
 
     custom_alerts = self.params.get_bool("CustomAlerts")
 
+    custom_theme = self.params.get_bool("CustomTheme")
+    custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0
+    frog_sounds = custom_sounds == 1
+    self.goat_scream = frog_sounds and self.params.get_bool("GoatScream")
+
     lateral_tune = self.params.get_bool("LateralTune")
 
     longitudinal_tune = self.CP.openpilotLongitudinalControl and self.params.get_bool("LongitudinalTune")

selfdrive/controls/lib/events.py

@@ -967,6 +967,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                        "Please don't use the 'Development' branch!",
                                        priority=Priority.HIGHEST),
   },
+
+  EventName.goatSteerSaturated: {
+    ET.WARNING: Alert(
+      "Turn Exceeds Steering Limit",
+      "JESUS TAKE THE WHEEL!!",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.goat, 2.),
+  },
 }
 
 

selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc

@@ -16,6 +16,12 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"CustomUI", tr("Custom Onroad UI"), tr("Customize the Onroad UI."), "../assets/offroad/icon_road.png"},
     {"CustomPaths", tr("Paths"), tr("Show your projected acceleration on the driving path, detected adjacent lanes, or when a vehicle is detected in your blindspot."), ""},
 
+    {"CustomTheme", tr("Custom Themes"), tr("Enable the ability to use custom themes."), "../frogpilot/assets/wheel_images/frog.png"},
+    {"CustomColors", tr("Color Theme"), tr("Switch out the standard openpilot color scheme with themed colors.\n\nWant to submit your own color scheme? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""},
+    {"CustomIcons", tr("Icon Pack"), tr("Switch out the standard openpilot icons with a set of themed icons.\n\nWant to submit your own icon pack? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""},
+    {"CustomSignals", tr("Turn Signals"), tr("Add themed animation for your turn signals.\n\nWant to submit your own turn signal animation? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""},
+    {"CustomSounds", tr("Sound Pack"), tr("Switch out the standard openpilot sounds with a set of themed sounds.\n\nWant to submit your own sound pack? Post it in the 'feature-request' channel in the FrogPilot Discord!"), ""},
+
     {"QOLVisuals", tr("Quality of Life"), tr("Miscellaneous quality of life changes to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"},
     {"CameraView", tr("Camera View"), tr("Choose your preferred camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives."), ""},
   };
@@ -51,6 +57,32 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
       });
       toggle = customAlertsToggle;
 
+    } else if (param == "CustomTheme") {
+      FrogPilotParamManageControl *customThemeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(customThemeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        openParentToggle();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(customThemeKeys.find(key.c_str()) != customThemeKeys.end());
+        }
+      });
+      toggle = customThemeToggle;
+    } else if (param == "CustomColors" || param == "CustomIcons" || param == "CustomSignals" || param == "CustomSounds") {
+      std::vector<QString> themeOptions{tr("Stock"), tr("Frog"), tr("Tesla"), tr("Stalin")};
+      FrogPilotButtonParamControl *themeSelection = new FrogPilotButtonParamControl(param, title, desc, icon, themeOptions);
+      toggle = themeSelection;
+
+      if (param == "CustomSounds") {
+        QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
+          if (id == 1) {
+            if (FrogPilotConfirmationDialog::yesorno(tr("Do you want to enable the bonus 'Goat' sound effect?"), this)) {
+              params.putBoolNonBlocking("GoatScream", true);
+            } else {
+              params.putBoolNonBlocking("GoatScream", false);
+            }
+          }
+        });
+      }
+
     } else if (param == "CustomUI") {
       FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {

selfdrive/frogpilot/ui/qt/offroad/visual_settings.h

@@ -25,7 +25,7 @@ private:
   std::set<QString> alertVolumeControlKeys = {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"};
   std::set<QString> customAlertsKeys = {};
   std::set<QString> customOnroadUIKeys = {"CustomPaths"};
-  std::set<QString> customThemeKeys = {};
+  std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
   std::set<QString> modelUIKeys = {};
   std::set<QString> qolKeys = {"CameraView"};
   std::set<QString> screenKeys = {};

selfdrive/ui/qt/onroad.cc

@@ -323,7 +323,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
-  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
+  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals != 0 && (turnSignalLeft || turnSignalRight));
   status = s.status;
 
   // update engageability/experimental mode button
@@ -490,13 +490,21 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
+    if (customColors != 0) {
+      painter.setBrush(std::get<2>(themeConfiguration[customColors]).begin()->second);
+    } else {
+      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
+    }
     painter.drawPolygon(scene.lane_line_vertices[i]);
   }
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
+    if (customColors != 0) {
+      painter.setBrush(std::get<2>(themeConfiguration[customColors]).begin()->second);
+    } else {
+      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
+    }
     painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
@@ -505,8 +513,14 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (experimentalMode || scene.acceleration_path) {
     // The first half of track_vertices are the points for the right side of the path
     // and the indices match the positions of accel from uiPlan
-    const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
-    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
+    const auto &acceleration_const = sm["uiPlan"].getUiPlan().getAccel();
+    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration_const.size());
+
+    // Copy of the acceleration vector
+    std::vector<float> acceleration;
+    for (int i = 0; i < acceleration_const.size(); i++) {
+      acceleration.push_back(acceleration_const[i]);
+    }
 
     for (int i = 0; i < max_len; ++i) {
       // Some points are out of frame
@@ -515,18 +529,33 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
       // Flip so 0 is bottom of frame
       float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
 
-      // speed up: 120, slow down: 0
-      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-      // FIXME: painter.drawPolygon can be slow if hue is not rounded
-      path_hue = int(path_hue * 100 + 0.5) / 100;
+      // If acceleration is between -0.25 and 0.25, resort to the theme color
+      if (std::abs(acceleration[i]) < 0.2 && (customColors != 0)) {
+        const auto &colorMap = std::get<2>(themeConfiguration[customColors]);
+        for (const auto &[position, brush] : colorMap) {
+          bg.setColorAt(position, brush.color());
+        }
 
-      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
-      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
-      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+      } else {
+        // speed up: 120, slow down: 0
+        float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+        // FIXME: painter.drawPolygon can be slow if hue is not rounded
+        path_hue = int(path_hue * 100 + 0.5) / 100;
 
-      // Skip a point, unless next is last
-      i += (i + 2) < max_len ? 1 : 0;
+        float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+        float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
+        float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
+        bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+
+        // Skip a point, unless next is last
+        i += (i + 2) < max_len ? 1 : 0;
+      }
+    }
+
+  } else if (customColors != 0) {
+    const auto &colorMap = std::get<2>(themeConfiguration[customColors]);
+    for (const auto &[position, brush] : colorMap) {
+      bg.setColorAt(position, brush.color());
     }
 
   } else {
@@ -600,8 +629,8 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
 void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
   painter.save();
 
-  const float speedBuff = 10.;
-  const float leadBuff = 40.;
+  const float speedBuff = customColors != 0 ? 25. : 10.;  // Make the center of the chevron appear sooner if a custom theme is active
+  const float leadBuff = customColors != 0 ? 100. : 40.;  // Make the center of the chevron appear sooner if a custom theme is active
   const float d_rel = lead_data.getDRel();
   const float v_rel = lead_data.getVRel();
 
@@ -627,7 +656,11 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
 
   // chevron
   QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(redColor(fillAlpha));
+  if (customColors != 0) {
+    painter.setBrush(std::get<2>(themeConfiguration[customColors]).begin()->second);
+  } else {
+    painter.setBrush(redColor(fillAlpha));
+  }
   painter.drawPolygon(chevron, std::size(chevron));
 
   painter.restore();
@@ -747,6 +780,23 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
   bottom_layout->addWidget(map_settings_btn_bottom);
 
   main_layout->addLayout(bottom_layout);
+
+  themeConfiguration = {
+    {1, {"frog_theme", QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
+                                                  {0.5, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.5))},
+                                                  {1.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.1))}}}},
+    {2, {"tesla_theme", QColor(0, 72, 255, 255), {{0.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.9))},
+                                                  {0.5, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.5))},
+                                                  {1.0, QBrush(QColor::fromHslF(223 / 360., 1.0, 0.5, 0.1))}}}},
+    {3, {"stalin_theme", QColor(255, 0, 0, 255), {{0.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.9))},
+                                                  {0.5, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.5))},
+                                                  {1.0, QBrush(QColor::fromHslF(0 / 360., 1.0, 0.5, 0.1))}}}},
+  };
+
+  animationTimer = new QTimer(this);
+  connect(animationTimer, &QTimer::timeout, this, [this] {
+    animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
+  });
 }
 
 void AnnotatedCameraWidget::updateFrogPilotWidgets() {
@@ -763,9 +813,44 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
   conditionalStatus = scene.conditional_status;
   showConditionalExperimentalStatusBar = scene.show_cem_status_bar;
 
+  customColors = scene.custom_colors;
+
   experimentalMode = scene.experimental_mode;
 
   mapOpen = scene.map_open;
+
+  turnSignalLeft = scene.turn_signal_left;
+  turnSignalRight = scene.turn_signal_right;
+
+  if (customSignals != scene.custom_signals) {
+    customSignals = scene.custom_signals;
+
+    QString themePath;
+
+    themePath = QString("../frogpilot/assets/custom_themes/%1/images").arg(
+      themeConfiguration.find(customSignals) != themeConfiguration.end() ?
+      std::get<0>(themeConfiguration[customSignals]) : "");
+
+    const QStringList imagePaths = {
+      themePath + "/turn_signal_1.png",
+      themePath + "/turn_signal_2.png",
+      themePath + "/turn_signal_3.png",
+      themePath + "/turn_signal_4.png"
+    };
+
+    signalImgVector.clear();
+    signalImgVector.reserve(2 * imagePaths.size() + 2);
+
+    for (const QString &imagePath : imagePaths) {
+      QPixmap pixmap(imagePath);
+      signalImgVector.push_back(pixmap);
+      signalImgVector.push_back(pixmap.transformed(QTransform().scale(-1, 1)));
+    }
+
+    const QPixmap blindSpotPixmap(themePath + "/turn_signal_1_red.png");
+    signalImgVector.push_back(blindSpotPixmap);
+    signalImgVector.push_back(blindSpotPixmap.transformed(QTransform().scale(-1, 1)));
+  }
 }
 
 void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
@@ -773,6 +858,15 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     drawStatusBar(p);
   }
 
+  if (customSignals != 0 && (turnSignalLeft || turnSignalRight)) {
+    if (!animationTimer->isActive()) {
+      animationTimer->start(totalFrames * 11);  // 440 milliseconds per loop; syncs up perfectly with my 2019 Lexus ES 350 turn signal clicks
+    }
+    drawTurnSignals(p);
+  } else if (animationTimer->isActive()) {
+    animationTimer->stop();
+  }
+
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {
     map_settings_btn_bottom->setVisible(!hideBottomIcons);
@@ -850,3 +944,28 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
 
   p.restore();
 }
+
+void AnnotatedCameraWidget::drawTurnSignals(QPainter &p) {
+  constexpr int signalHeight = 480;
+  constexpr int signalWidth = 360;
+
+  p.setRenderHint(QPainter::Antialiasing);
+
+  int baseYPosition = (height() - signalHeight) / 2 + (showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar ? 225 : 300) - alertSize;
+  int leftSignalXPosition = 75 + width() - signalWidth - 300 * (blindSpotLeft ? 0 : animationFrameIndex);
+  int rightSignalXPosition = -75 + 300 * (blindSpotRight ? 0 : animationFrameIndex);
+
+  if (animationFrameIndex < signalImgVector.size()) {
+    auto drawSignal = [&](bool signalActivated, int xPosition, bool flip, bool blindspot) {
+      if (signalActivated) {
+        int uniqueImages = signalImgVector.size() / 4;
+        int index = (blindspot ? 2 * uniqueImages : 2 * animationFrameIndex % totalFrames) + (flip ? 1 : 0);
+        QPixmap &signal = signalImgVector[index];
+        p.drawPixmap(xPosition, baseYPosition, signalWidth, signalHeight, signal);
+      }
+    };
+
+    drawSignal(turnSignalLeft, leftSignalXPosition, false, blindSpotLeft);
+    drawSignal(turnSignalRight, rightSignalXPosition, true, blindSpotRight);
+  }
+}

selfdrive/ui/qt/onroad.h

@@ -111,6 +111,7 @@ private:
   void updateFrogPilotWidgets();
 
   void drawStatusBar(QPainter &p);
+  void drawTurnSignals(QPainter &p);
 
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
@@ -125,10 +126,22 @@ private:
   bool mapOpen;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;
+  bool turnSignalLeft;
+  bool turnSignalRight;
 
   int alertSize;
   int cameraView;
   int conditionalStatus;
+  int customColors;
+  int customSignals;
+  int totalFrames = 8;
+
+  size_t animationFrameIndex;
+
+  std::unordered_map<int, std::tuple<QString, QColor, std::map<double, QBrush>>> themeConfiguration;
+  std::vector<QPixmap> signalImgVector;
+
+  QTimer *animationTimer;
 
 protected:
   void paintGL() override;

selfdrive/ui/qt/sidebar.cc

@@ -40,6 +40,27 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
 
   // FrogPilot variables
+  themeConfiguration = {
+    {0, {"stock", {QColor(255, 255, 255)}}},
+    {1, {"frog_theme", {QColor(23, 134, 68)}}},
+    {2, {"tesla_theme", {QColor(0, 72, 255)}}},
+    {3, {"stalin_theme", {QColor(255, 0, 0)}}}
+  };
+
+  for (auto &[key, themeData] : themeConfiguration) {
+    QString &themeName = themeData.first;
+    QString base = themeName == "stock" ? "../assets/images" : QString("../frogpilot/assets/custom_themes/%1/images").arg(themeName);
+    std::vector<QString> paths = {base + "/button_home.png", base + "/button_flag.png", base + "/button_settings.png"};
+
+    home_imgs[key] = loadPixmap(paths[0], home_btn.size());
+    flag_imgs[key] = loadPixmap(paths[1], home_btn.size());
+    settings_imgs[key] = loadPixmap(paths[2], settings_btn.size(), Qt::IgnoreAspectRatio);
+  }
+
+  home_img = home_imgs[scene.custom_icons];
+  flag_img = flag_imgs[scene.custom_icons];
+  settings_img = settings_imgs[scene.custom_icons];
+  currentColors = themeConfiguration[scene.custom_colors].second;
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -82,6 +103,12 @@ void Sidebar::updateState(const UIState &s) {
   setProperty("netStrength", strength > 0 ? strength + 1 : 0);
 
   // FrogPilot properties
+  home_img = home_imgs[scene.custom_icons];
+  flag_img = flag_imgs[scene.custom_icons];
+  settings_img = settings_imgs[scene.custom_icons];
+
+  currentColors = themeConfiguration[scene.custom_colors].second;
+
   auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();
 
   ItemStatus connectStatus;
@@ -90,7 +117,7 @@ void Sidebar::updateState(const UIState &s) {
     connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
     connectStatus = nanos_since_boot() - last_ping < 80e9
-                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color}
+                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, currentColors[0]}
                         : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
@@ -98,13 +125,13 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color};
   auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color};
+    tempStatus = {{tr("TEMP"), tr("GOOD")}, currentColors[0]};
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
     tempStatus = {{tr("TEMP"), tr("OK")}, warning_color};
   }
   setProperty("tempStatus", QVariant::fromValue(tempStatus));
 
-  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
+  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, currentColors[0]};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
     pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
   } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {

selfdrive/ui/qt/sidebar.h

@@ -65,4 +65,11 @@ private:
   // FrogPilot variables
   Params params;
   UIScene &scene;
+
+  std::unordered_map<int, std::pair<QString, std::vector<QColor>>> themeConfiguration;
+  std::unordered_map<int, QPixmap> flag_imgs;
+  std::unordered_map<int, QPixmap> home_imgs;
+  std::unordered_map<int, QPixmap> settings_imgs;
+
+  std::vector<QColor> currentColors;
 };

selfdrive/ui/soundd.py

@@ -39,6 +39,9 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  # Other
+  AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME),
 }
 
 def check_controls_timeout_alert(sm):
@@ -57,6 +60,8 @@ class Soundd:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    self.previous_sound_directory = None
+
     self.update_frogpilot_params()
 
     self.current_alert = AudibleAlert.none
@@ -72,9 +77,15 @@ class Soundd:
 
     # Load all sounds
     for sound in sound_list:
+      if sound == AudibleAlert.goat and not self.goat_scream:
+        continue
+
       filename, play_count, volume = sound_list[sound]
 
-      wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
+      try:
+        wavefile = wave.open(self.sound_directory + filename, 'r')
+      except FileNotFoundError:
+        wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
 
       assert wavefile.getnchannels() == 1
       assert wavefile.getsampwidth() == 2
@@ -181,9 +192,27 @@ class Soundd:
 
       AudibleAlert.warningSoft: self.params.get_int("WarningSoftVolume"),
       AudibleAlert.warningImmediate: self.params.get_int("WarningImmediateVolume"),
+
+      AudibleAlert.goat: self.params.get_int("PromptVolume"),
     }
 
-    self.load_sounds()
+    custom_theme = self.params.get_bool("CustomTheme")
+    custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0
+    self.goat_scream = custom_sounds == 1 and self.params.get_bool("GoatScream")
+
+    theme_configuration = {
+      1: "frog_theme",
+      2: "tesla_theme",
+      3: "stalin_theme"
+    }
+
+    theme_name = theme_configuration.get(custom_sounds)
+    self.sound_directory = BASEDIR + ("/selfdrive/frogpilot/assets/custom_themes/" + theme_name + "/sounds/" if custom_sounds != 0 else "/selfdrive/assets/sounds/")
+
+    if self.sound_directory != self.previous_sound_directory:
+      self.load_sounds()
+
+    self.previous_sound_directory = self.sound_directory
 
 def main():
   s = Soundd()

selfdrive/ui/ui.cc

@@ -214,6 +214,8 @@ static void update_state(UIState *s) {
     scene.acceleration = carState.getAEgo();
     scene.blind_spot_left = carState.getLeftBlindspot();
     scene.blind_spot_right = carState.getRightBlindspot();
+    scene.turn_signal_left = carState.getLeftBlinker();
+    scene.turn_signal_right = carState.getRightBlinker();
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -273,6 +275,11 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.acceleration_path = custom_paths && params.getBool("AccelerationPath");
   scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath");
 
+  bool custom_theme = params.getBool("CustomTheme");
+  scene.custom_colors = custom_theme ? params.getInt("CustomColors") : 0;
+  scene.custom_icons = custom_theme ? params.getInt("CustomIcons") : 0;
+  scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0;
+
   bool quality_of_life_controls = params.getBool("QOLControls");
 
   bool quality_of_life_visuals = params.getBool("QOLVisuals");

selfdrive/ui/ui.h

@@ -183,6 +183,8 @@ typedef struct UIScene {
   bool right_hand_drive;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
+  bool turn_signal_left;
+  bool turn_signal_right;
 
   float acceleration;
   float lane_width_left;
@@ -193,6 +195,9 @@ typedef struct UIScene {
   int conditional_speed;
   int conditional_speed_lead;
   int conditional_status;
+  int custom_colors;
+  int custom_icons;
+  int custom_signals;
 
   QPolygonF track_adjacent_vertices[6];