Conditional Experimental Mode

selfdrive/car/cruise.py

@@ -136,7 +136,7 @@ class VCruiseHelper:
     if self.CP.pcmCruise and not self.gm_cc_only:
       return
 
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not frogpilot_toggles.conditional_experimental_mode else V_CRUISE_INITIAL
 
     if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
       and self.v_cruise_initialized or (self.gm_cc_only and resume_prev_button)):

selfdrive/selfdrived/selfdrived.py

@@ -434,6 +434,11 @@ class SelfdriveD:
     # FrogPilot variables
     self.frogpilot_events.add_from_msg(self.sm['frogpilotPlan'].frogpilotEvents)
 
+    if self.frogpilot_toggles.conditional_experimental_mode:
+      self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode
+    else:
+      self.experimental_mode |= self.sm['frogpilotPlan'].experimentalMode
+
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -572,7 +577,8 @@ class SelfdriveD:
       self.is_metric = self.params.get_bool("IsMetric")
       self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
       self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
-      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      if not self.frogpilot_toggles.conditional_experimental_mode:
+        self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.params.get("LongitudinalPersonality", return_default=True)
       time.sleep(0.1)
 

selfdrive/ui/qt/onroad/buttons.cc

@@ -31,7 +31,12 @@ void ExperimentalButton::changeMode() {
   bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
   if (can_change) {
     // FrogPilot variables
-    params.putBool("ExperimentalMode", !experimental_mode);
+    if (frogpilot_toggles.value("conditional_experimental_mode").toBool()) {
+      int override_value = (frogpilot_scene.conditional_status == 1 || frogpilot_scene.conditional_status == 2) ? 0 : experimental_mode ? 1 : 2;
+      params_memory.putInt("CEStatus", override_value);
+    } else {
+      params.putBool("ExperimentalMode", !experimental_mode);
+    }
   }
 }
 
@@ -65,6 +70,8 @@ void ExperimentalButton::updateBackgroundColor() {
     background_color = QColor(0, 0, 0, 166);
   } else if (frogpilot_scene.always_on_lateral_active) {
     background_color = bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE];
+  } else if (frogpilot_scene.conditional_status == 1) {
+    background_color = bg_colors[STATUS_CEM_DISABLED];
   } else if (experimental_mode) {
     background_color = bg_colors[STATUS_EXPERIMENTAL_MODE_ENABLED];
   } else {

selfdrive/ui/ui.h

@@ -47,6 +47,7 @@ typedef enum UIStatus {
 
   // FrogPilot variables
   STATUS_ALWAYS_ON_LATERAL_ACTIVE,
+  STATUS_CEM_DISABLED,
   STATUS_EXPERIMENTAL_MODE_ENABLED,
 } UIStatus;
 
@@ -57,6 +58,7 @@ const QColor bg_colors [] = {
 
   // FrogPilot variables
   [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
+  [STATUS_CEM_DISABLED] = QColor(0xff, 0xff, 0x00, 0xf1),
   [STATUS_EXPERIMENTAL_MODE_ENABLED] = QColor(0xda, 0x6f, 0x25, 0xf1),
 };