From 583680d871abe6bb27a24f05e61065dbf4220a4b Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Mon, 1 Dec 2025 12:00:00 -0700 Subject: [PATCH] Debug Mode --- frogpilot/common/frogpilot_variables.py | 79 +++++++++++++------------ frogpilot/ui/qt/offroad/utilities.cc | 6 ++ selfdrive/ui/qt/home.cc | 2 +- selfdrive/ui/qt/window.cc | 2 +- 4 files changed, 48 insertions(+), 41 deletions(-) diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py index e1b3d87ff..52fce61c1 100644 --- a/frogpilot/common/frogpilot_variables.py +++ b/frogpilot/common/frogpilot_variables.py @@ -243,17 +243,19 @@ class FrogPilotVariables: LTP = messaging.log_from_bytes(msg_bytes, log.LiveTorqueParametersData) else: + toggle.debug_mode = self.params.get_bool("DebugMode") + 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.hide_alerts = self.get_value("HideAlerts", condition=advanced_custom_ui and not toggle.debug_mode) + toggle.hide_lead_marker = self.get_value("HideLeadMarker", condition=advanced_custom_ui and toggle.openpilot_longitudinal and not toggle.debug_mode) + toggle.hide_max_speed = self.get_value("HideMaxSpeed", condition=advanced_custom_ui and not toggle.debug_mode) + toggle.hide_speed = self.get_value("HideSpeed", condition=advanced_custom_ui and not toggle.debug_mode) + toggle.hide_speed_limit = self.get_value("HideSpeedLimit", condition=advanced_custom_ui and not toggle.debug_mode) toggle.use_wheel_speed = self.get_value("WheelSpeed", condition=advanced_custom_ui) advanced_lateral_tuning = self.get_value("AdvancedLateralTune") @@ -309,10 +311,10 @@ class FrogPilotVariables: 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.cem_status = self.get_value("ShowCEMStatus", condition=toggle.conditional_experimental_mode) or toggle.debug_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) + toggle.csc_status = self.get_value("ShowCSCStatus", condition=toggle.curve_speed_controller) or toggle.debug_mode custom_alerts = self.get_value("CustomAlerts") toggle.goat_scream_alert = self.get_value("GoatScream", condition=custom_alerts) @@ -364,7 +366,7 @@ class FrogPilotVariables: toggle.wheel_image = self.get_value("WheelIcon", cast=None, condition=custom_themes, default="stock") custom_ui = self.get_value("CustomUI") - toggle.acceleration_path = toggle.openpilot_longitudinal and (self.get_value("AccelerationPath", condition=custom_ui)) + toggle.acceleration_path = toggle.openpilot_longitudinal and (self.get_value("AccelerationPath", condition=custom_ui) or toggle.debug_mode) 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) @@ -377,26 +379,25 @@ class FrogPilotVariables: 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.signal_metrics = self.get_value("SignalMetrics", condition=border_metrics) or toggle.debug_mode + toggle.steering_metrics = self.get_value("ShowSteering", condition=border_metrics) or toggle.debug_mode + toggle.show_fps = self.get_value("FPSCounter", condition=developer_metrics) or toggle.debug_mode + toggle.adjacent_path_metrics = self.get_value("AdjacentPathMetrics", condition=developer_metrics) or toggle.debug_mode + toggle.lead_info = self.get_value("LeadInfo", condition=developer_metrics) or toggle.debug_mode + toggle.numerical_temp = self.get_value("NumericalTemp", condition=developer_metrics) or toggle.debug_mode + toggle.fahrenheit = self.get_value("Fahrenheit", condition=toggle.numerical_temp and not toggle.debug_mode) + toggle.cpu_metrics = self.get_value("ShowCPU", condition=developer_metrics) or toggle.debug_mode + toggle.gpu_metrics = self.get_value("ShowGPU", condition=developer_metrics and not toggle.debug_mode) 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) + toggle.memory_metrics = self.get_value("ShowMemoryUsage", condition=developer_metrics) or toggle.debug_mode + toggle.storage_left_metrics = self.get_value("ShowStorageLeft", condition=developer_metrics and not toggle.debug_mode) + toggle.storage_used_metrics = self.get_value("ShowStorageUsed", condition=developer_metrics and not toggle.debug_mode) + toggle.use_si_metrics = self.get_value("UseSI", condition=developer_metrics) or toggle.debug_mode 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) + toggle.adjacent_lead_tracking = has_radar and (self.get_value("AdjacentLeadsUI", condition=developer_widgets) or toggle.debug_mode) + toggle.radar_tracks = has_radar and (self.get_value("RadarTracksUI", condition=developer_widgets) or toggle.debug_mode) + toggle.show_stopping_point = toggle.openpilot_longitudinal and (self.get_value("ShowStoppingPoint", condition=developer_widgets) or toggle.debug_mode) + toggle.show_stopping_point_metrics = self.get_value("ShowStoppingPointMetrics", condition=toggle.show_stopping_point) or toggle.debug_mode device_management = self.get_value("DeviceManagement") toggle.increase_thermal_limits = self.get_value("IncreaseThermalLimits", condition=device_management) @@ -463,15 +464,15 @@ class FrogPilotVariables: 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) + toggle.dynamic_path_width = self.get_value("DynamicPathWidth", condition=toggle.model_ui and not toggle.debug_mode) + toggle.lane_line_width = self.get_value("LaneLinesWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode, conversion=small_distance_conversion / 200) + toggle.path_edge_width = self.get_value("PathEdgeWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode) + toggle.path_width = self.get_value("PathWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode, conversion=distance_conversion / 2) + toggle.road_edge_width = self.get_value("RoadEdgesWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode, 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.road_name_ui = self.get_value("RoadNameUI", condition=navigation_ui) or toggle.debug_mode + toggle.show_speed_limits = self.get_value("ShowSpeedLimits", condition=navigation_ui) or toggle.debug_mode toggle.speed_limit_vienna = self.get_value("UseVienna", condition=navigation_ui) quality_of_life_lateral = self.get_value("QOLLateral") @@ -507,19 +508,19 @@ class FrogPilotVariables: 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.camera_view = self.get_value("CameraView", cast=float, condition=quality_of_life_visuals and not toggle.debug_mode) 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.onroad_distance_button = toggle.openpilot_longitudinal and (self.get_value("OnroadDistanceButton", condition=quality_of_life_visuals) or toggle.debug_mode) toggle.stopped_timer = self.get_value("StoppedTimer", condition=quality_of_life_visuals) - toggle.rainbow_path = self.get_value("RainbowPath") + toggle.rainbow_path = self.get_value("RainbowPath", condition=not toggle.debug_mode) 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_recorder = self.get_value("ScreenRecorder", condition=screen_management) or toggle.debug_mode 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) @@ -530,7 +531,7 @@ class FrogPilotVariables: 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) + toggle.show_speed_limit_offset = self.get_value("ShowSLCOffset", condition=toggle.speed_limit_controller) or toggle.debug_mode 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 @@ -553,7 +554,7 @@ class FrogPilotVariables: 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_sources = self.get_value("SpeedLimitSources", condition=toggle.speed_limit_controller) or toggle.debug_mode toggle.speed_limit_filler = self.get_value("SpeedLimitFiller") diff --git a/frogpilot/ui/qt/offroad/utilities.cc b/frogpilot/ui/qt/offroad/utilities.cc index a7b1e09ff..93fa66ccf 100644 --- a/frogpilot/ui/qt/offroad/utilities.cc +++ b/frogpilot/ui/qt/offroad/utilities.cc @@ -3,6 +3,12 @@ FrogPilotUtilitiesPanel::FrogPilotUtilitiesPanel(FrogPilotSettingsWindow *parent, bool forceOpen) : FrogPilotListWidget(parent), parent(parent) { forceOpenDescriptions = forceOpen; + ParamControl *debugModeToggle = new ParamControl("DebugMode", tr("Debug Mode"), tr("Use all of FrogPilot's developer metrics on your next drive to diagnose issues and improve bug reports."), ""); + if (forceOpenDescriptions) { + debugModeToggle->showDescription(); + } + addItem(debugModeToggle); + ButtonControl *resetTogglesButton = new ButtonControl(tr("Reset Toggles to Default"), tr("RESET"), tr("Reset all toggles to their default values.")); QObject::connect(resetTogglesButton, &ButtonControl::clicked, [parent, resetTogglesButton, this]() { if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all toggles to their default values?"), tr("Reset"), this)) { diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index d27f0bc2a..a7dfc5d86 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -73,7 +73,7 @@ void HomeWindow::offroadTransition(bool offroad) { QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles; body->setEnabled(false); - sidebar->setVisible(offroad); + sidebar->setVisible(offroad || frogpilot_toggles.value("debug_mode").toBool()); if (offroad) { slayout->setCurrentWidget(home); diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index b01d55eec..53e16262f 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -74,7 +74,7 @@ void MainWindow::closeSettings() { main_layout->setCurrentWidget(homeWindow); if (uiState()->scene.started) { - homeWindow->showSidebar(false); + homeWindow->showSidebar(frogpilotUIState()->frogpilot_scene.frogpilot_toggles.value("debug_mode").toBool()); } }