September 27th, 2025 Update

frogpilot/frogpilot_process.py

@@ -10,8 +10,8 @@ from cereal import messaging
 from openpilot.common.realtime import DT_MDL, Priority, Ratekeeper, config_realtime_process
 from openpilot.common.time import system_time_valid
 
-from openpilot.frogpilot.assets.model_manager import ModelManager, MODEL_DOWNLOAD_ALL_PARAM, MODEL_DOWNLOAD_PARAM
-from openpilot.frogpilot.assets.theme_manager import ThemeManager
+from openpilot.frogpilot.assets.model_manager import MODEL_DOWNLOAD_ALL_PARAM, MODEL_DOWNLOAD_PARAM, ModelManager
+from openpilot.frogpilot.assets.theme_manager import THEME_COMPONENT_PARAMS, ThemeManager
 from openpilot.frogpilot.common.frogpilot_functions import backup_toggles
 from openpilot.frogpilot.common.frogpilot_utilities import flash_panda, is_url_pingable, lock_doors, run_thread_with_lock, update_maps, update_openpilot
 from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, FrogPilotVariables, get_frogpilot_toggles, params, params_cache, params_memory
@@ -21,9 +21,11 @@ from openpilot.frogpilot.system.frogpilot_stats import send_stats
 
 ASSET_CHECK_RATE = (1 / DT_MDL)
 
-def assets_checks(model_manager, theme_manager):
+def assets_checks(model_manager, theme_manager, frogpilot_toggles):
   if params_memory.get_bool(MODEL_DOWNLOAD_ALL_PARAM):
     run_thread_with_lock("download_all_models", model_manager.download_all_models)
+  elif params_memory.get_bool("UpdateTinygrad"):
+    run_thread_with_lock("update_tinygrad", model_manager.update_tinygrad)
   else:
     model_to_download = params_memory.get(MODEL_DOWNLOAD_PARAM, encoding="utf-8")
     if model_to_download:
@@ -34,24 +36,15 @@ def assets_checks(model_manager, theme_manager):
 
   report_data = json.loads(params_memory.get("IssueReported", encoding="utf-8") or "{}")
   if report_data:
-    sentry.capture_report(report_data["DiscordUser"], report_data["Issue"], vars(get_frogpilot_toggles()))
+    sentry.capture_report(report_data["DiscordUser"], report_data["Issue"], vars(frogpilot_toggles))
     params_memory.remove("IssueReported")
 
-  assets = [
-    ("ColorToDownload", "colors"),
-    ("DistanceIconToDownload", "distance_icons"),
-    ("IconToDownload", "icons"),
-    ("SignalToDownload", "signals"),
-    ("SoundToDownload", "sounds"),
-    ("WheelToDownload", "steering_wheels")
-  ]
-
-  for param, asset_type in assets:
-    asset_to_download = params_memory.get(param, encoding="utf-8")
+  for asset_type, asset_param in THEME_COMPONENT_PARAMS.items():
+    asset_to_download = params_memory.get(asset_param, encoding="utf-8")
     if asset_to_download:
-      run_thread_with_lock("download_theme", theme_manager.download_theme, (asset_type, asset_to_download, param))
+      run_thread_with_lock("download_theme", theme_manager.download_theme, (asset_type, asset_to_download, asset_param, frogpilot_toggles))
 
-def update_checks(manually_updated, model_manager, now, theme_manager, frogpilot_toggles, boot_run=False):
+def update_checks(model_manager, now, theme_manager, frogpilot_toggles, boot_run=False):
   while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
     time.sleep(60)
 
@@ -60,7 +53,7 @@ def update_checks(manually_updated, model_manager, now, theme_manager, frogpilot
 
   run_thread_with_lock("update_maps", update_maps, (now,))
 
-  if frogpilot_toggles.automatic_updates and not manually_updated:
+  if frogpilot_toggles.automatic_updates:
     run_thread_with_lock("update_openpilot", update_openpilot)
 
   time.sleep(1)
@@ -80,14 +73,14 @@ def frogpilot_thread():
   model_manager = ModelManager()
   theme_manager = ThemeManager()
 
-  toggles_last_updated = datetime.datetime.now()
+  toggles_last_updated = datetime.datetime.now(datetime.timezone.utc)
 
   pm = messaging.PubMaster(["frogpilotPlan"])
   sm = messaging.SubMaster(["carControl", "carState", "controlsState", "deviceState", "driverMonitoringState",
-                            "liveLocationKalman", "liveParameters", "managerState", "modelV2",
-                            "pandaStates", "radarState", "frogpilotCarState",
-                            "frogpilotNavigation"],
-                            poll="modelV2", ignore_avg_freq=["radarState"])
+                            "liveLocationKalman", "liveParameters", "managerState", "modelV2", "onroadEvents",
+                            "pandaStates", "radarState", "frogpilotCarState", "frogpilotControlsState",
+                            "frogpilotModelV2", "frogpilotNavigation", "frogpilotOnroadEvents"],
+                            poll="modelV2", ignore_avg_freq=["frogpilotRadarState"])
 
   run_update_checks = False
   started_previously = False
@@ -97,7 +90,7 @@ def frogpilot_thread():
   while True:
     sm.update()
 
-    now = datetime.datetime.now()
+    now = datetime.datetime.now(datetime.timezone.utc)
 
     started = sm["deviceState"].started
 
@@ -116,32 +109,28 @@ def frogpilot_thread():
       if time_validated and is_url_pingable(os.environ.get("STATS_URL", "")):
         send_stats()
 
-      params_memory.put_bool("IsOnroad", False)
-
     elif started and not started_previously:
-      frogpilot_planner = FrogPilotPlanner()
-      frogpilot_tracking = FrogPilotTracking()
-
       if error_log.is_file():
         error_log.unlink()
 
-      params_memory.put_bool("IsOnroad", True)
+      frogpilot_planner = FrogPilotPlanner(error_log, theme_manager)
+      frogpilot_tracking = FrogPilotTracking(frogpilot_planner, frogpilot_toggles)
 
     if started and sm.updated["modelV2"]:
-      frogpilot_planner.update(sm, frogpilot_toggles)
-      frogpilot_planner.publish(sm, pm, theme_manager.theme_updated, toggles_updated)
+      frogpilot_planner.update(now, time_validated, sm, frogpilot_toggles)
+      frogpilot_planner.publish(theme_manager.theme_updated, toggles_updated, sm, pm, frogpilot_toggles)
 
-      frogpilot_tracking.update(sm)
-    elif not started and toggles_updated:
+      frogpilot_tracking.update(now, time_validated, sm, frogpilot_toggles)
+    elif not started:
       frogpilot_plan_send = messaging.new_message("frogpilotPlan")
-      frogpilot_plan_send.frogpilotPlan.themeUpdated = theme_manager.theme_updated
+      frogpilot_plan_send.frogpilotPlan.themeUpdated = theme_manager.theme_updated or params_memory.get_bool("UseActiveTheme")
       frogpilot_plan_send.frogpilotPlan.togglesUpdated = toggles_updated
       pm.send("frogpilotPlan", frogpilot_plan_send)
 
     started_previously = started
 
     if rate_keeper.frame % ASSET_CHECK_RATE == 0:
-      assets_checks(model_manager, theme_manager)
+      assets_checks(model_manager, theme_manager, frogpilot_toggles)
 
     if params_memory.get_bool("FrogPilotTogglesUpdated") or theme_manager.theme_updated:
       previous_holiday_themes = frogpilot_toggles.holiday_themes
@@ -163,15 +152,13 @@ def frogpilot_thread():
 
     toggles_updated = (now - toggles_last_updated).total_seconds() <= 1
 
-    manually_updated = params_memory.get_bool("ManualUpdateInitiated")
-
-    run_update_checks |= manually_updated
+    run_update_checks |= params_memory.get_bool("ManualUpdateInitiated")
     run_update_checks |= now.second == 0 and (now.minute % 60 == 0 or (now.minute % 5 == 0 and frogpilot_toggles.frogs_go_moo))
     run_update_checks &= time_validated
 
     if run_update_checks:
       theme_manager.update_active_theme(time_validated, frogpilot_toggles)
-      run_thread_with_lock("update_checks", update_checks, (manually_updated, model_manager, now, theme_manager, frogpilot_toggles))
+      run_thread_with_lock("update_checks", update_checks, (model_manager, now, theme_manager, frogpilot_toggles))
 
       run_update_checks = False
     elif not time_validated:
@@ -180,7 +167,7 @@ def frogpilot_thread():
         continue
 
       theme_manager.update_active_theme(time_validated, frogpilot_toggles)
-      run_thread_with_lock("update_checks", update_checks, (manually_updated, model_manager, now, theme_manager, frogpilot_toggles, True))
+      run_thread_with_lock("update_checks", update_checks, (model_manager, now, theme_manager, frogpilot_toggles, True))
 
     rate_keeper.keep_time()