Fixes

frogpilot/common/frogpilot_utilities.py

@@ -217,6 +217,10 @@ def load_json_file(path):
 def lock_doors(lock_doors_timer, sm, params):
   wait_for_no_driver(params, sm, door_checks=True, time_threshold=lock_doors_timer)
 
+  sm.update()
+  if any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown):
+    return
+
   can_parser = CANParser("toyota_nodsu_pt_generated", [("DOOR_LOCKS", 3)], bus=0)
   can_sock = messaging.sub_sock("can", timeout=100)
 

frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc

@@ -52,7 +52,9 @@ void FrogPilotAnnotatedCameraWidget::showEvent(QShowEvent *event) {
 
 void FrogPilotAnnotatedCameraWidget::updateSignals() {
   QVector<QPixmap>().swap(blindspotImages);
+  QVector<QPixmap>().swap(blindspotImagesRight);
   QVector<QPixmap>().swap(signalImages);
+  QVector<QPixmap>().swap(signalImagesRight);
 
   bool isGif = false;
 
@@ -70,19 +72,26 @@ void FrogPilotAnnotatedCameraWidget::updateSignals() {
 
       int frameCount = movie.frameCount();
       signalImages.reserve(frameCount);
+      signalImagesRight.reserve(frameCount);
 
       for (int i = 0; i < frameCount; ++i) {
         movie.jumpToFrame(i);
 
-        QImage image = movie.currentPixmap().toImage().convertToFormat(QImage::Format_Indexed8);
-        QPixmap frame = QPixmap::fromImage(image);
+        QPixmap frame = movie.currentPixmap();
         signalImages.append(frame);
+        signalImagesRight.append(frame.transformed(QTransform().scale(-1, 1)));
       }
 
       movie.stop();
     } else if (fileName.endsWith(".png", Qt::CaseInsensitive)) {
-      QVector<QPixmap> &targetList = fileName.contains("blindspot", Qt::CaseInsensitive) ? blindspotImages : signalImages;
-      targetList.append(QPixmap::fromImage(QImage(filePath).convertToFormat(QImage::Format_Indexed8)));
+      QPixmap img(filePath);
+      if (fileName.contains("blindspot", Qt::CaseInsensitive)) {
+        blindspotImages.append(img);
+        blindspotImagesRight.append(img.transformed(QTransform().scale(-1, 1)));
+      } else {
+        signalImages.append(img);
+        signalImagesRight.append(img.transformed(QTransform().scale(-1, 1)));
+      }
     } else {
       QStringList parts = fileName.split('_');
       if (parts.size() == 2) {
@@ -1100,7 +1109,7 @@ void FrogPilotAnnotatedCameraWidget::paintStoppingPoint(QPainter &p) {
 }
 
 void FrogPilotAnnotatedCameraWidget::paintTurnSignals(QPainter &p) {
-  p.save();
+  int frameIndex = qBound(0, animationFrameIndex, totalFrames - 1);
 
   bool blindspotActive = blinkerLeft ? blindspotLeft : blindspotRight;
 
@@ -1112,23 +1121,20 @@ void FrogPilotAnnotatedCameraWidget::paintTurnSignals(QPainter &p) {
     signalYPosition = signalHeight / 2;
   } else {
     if (signalStyle == "traditional_gif") {
-      signalXPosition = blinkerLeft ? width() - (animationFrameIndex * signalMovement) + signalWidth : (animationFrameIndex * signalMovement) - signalWidth;
+      signalXPosition = blinkerLeft ? width() - (frameIndex * signalMovement) + signalWidth : (frameIndex * signalMovement) - signalWidth;
     } else {
-      signalXPosition = blinkerLeft ? width() - ((animationFrameIndex + 1) * signalWidth) : animationFrameIndex * signalWidth;
+      signalXPosition = blinkerLeft ? width() - ((frameIndex + 1) * signalWidth) : frameIndex * signalWidth;
     }
     signalYPosition = height() - signalHeight - alertHeight;
   }
 
-  QPixmap *imgToDraw = (blindspotActive && !blindspotImages.empty()) ? &blindspotImages[0] : &signalImages[animationFrameIndex];
   if (blinkerLeft) {
-    p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, *imgToDraw);
+    QPixmap &imgToDraw = (blindspotActive && !blindspotImages.empty()) ? blindspotImages[0] : signalImages[frameIndex];
+    p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, imgToDraw);
   } else {
-    p.translate(signalXPosition + signalWidth, signalYPosition);
-    p.scale(-1, 1);
-    p.drawPixmap(0, 0, signalWidth, signalHeight, *imgToDraw);
+    QPixmap &imgToDraw = (blindspotActive && !blindspotImagesRight.empty()) ? blindspotImagesRight[0] : signalImagesRight[frameIndex];
+    p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, imgToDraw);
   }
-
-  p.restore();
 }
 
 void FrogPilotAnnotatedCameraWidget::paintWeather(QPainter &p) {

frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h

@@ -174,5 +174,7 @@ private:
   QTimer *animationTimer;
 
   QVector<QPixmap> blindspotImages;
+  QVector<QPixmap> blindspotImagesRight;
   QVector<QPixmap> signalImages;
+  QVector<QPixmap> signalImagesRight;
 };

frogpilot/ui/qt/widgets/frogpilot_controls.cc

@@ -33,6 +33,22 @@ void clearMovie(QSharedPointer<QMovie> &movie, QWidget *parent) {
 }
 
 void loadGif(const QString &gifPath, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent) {
+  if (!parent || gifPath.isEmpty()) {
+    return;
+  }
+
+  if (movie && movie->fileName() == gifPath && movie->state() == QMovie::Running) {
+    if (movie->scaledSize() != size) {
+      movie->setScaledSize(size);
+    }
+    return;
+  }
+
+  if (!QFileInfo::exists(gifPath)) {
+    clearMovie(movie, parent);
+    return;
+  }
+
   clearMovie(movie, parent);
 
   movie = QSharedPointer<QMovie>::create(gifPath);
@@ -50,13 +66,35 @@ void loadGif(const QString &gifPath, QSharedPointer<QMovie> &movie, const QSize
 }
 
 void loadImage(const QString &basePath, QPixmap &pixmap, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent) {
-  if (!parent) {
+  if (!parent || basePath.isEmpty()) {
     return;
   }
 
+  static QHash<QString, QPixmap> pixmapCache;
+  QString cacheKey = basePath + QString("_%1x%2").arg(size.width()).arg(size.height());
+
   QString gifPath = basePath + ".gif";
   if (QFileInfo::exists(gifPath)) {
     loadGif(gifPath, movie, size, parent);
+    if (!pixmap.isNull()) {
+      pixmap = QPixmap();
+    }
+    return;
+  }
+
+  clearMovie(movie, parent);
+
+  if (pixmapCache.contains(cacheKey)) {
+    QPixmap &cached = pixmapCache[cacheKey];
+    if (pixmap.cacheKey() != cached.cacheKey()) {
+      pixmap = cached;
+      parent->update();
+    }
+    return;
+  }
+
+  QString pngPath = basePath + ".png";
+  if (!QFileInfo::exists(pngPath)) {
     if (!pixmap.isNull()) {
       pixmap = QPixmap();
       parent->update();
@@ -64,13 +102,10 @@ void loadImage(const QString &basePath, QPixmap &pixmap, QSharedPointer<QMovie>
     return;
   }
 
-  QString pngPath = basePath + ".png";
-
-  clearMovie(movie, parent);
-
   QPixmap loadedPixmap(pngPath);
   if (!loadedPixmap.isNull()) {
     pixmap = loadedPixmap.scaled(size, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    pixmapCache.insert(cacheKey, pixmap);
   } else {
     pixmap = QPixmap();
   }

opendbc_repo/opendbc/car/chrysler/carstate.py

@@ -102,7 +102,7 @@ class CarState(CarStateBase):
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl[self.button_message]["COUNTER"]
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # FrogPilot variables
     fp_ret = custom.FrogPilotCarState.new_message()
@@ -113,10 +113,12 @@ class CarState(CarStateBase):
     else:
       self.lkas_button = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1
 
-    ret.buttonEvents = list(ret.buttonEvents) + [
+    buttonEvents += [
       *create_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas}),
     ]
 
+    ret.buttonEvents = buttonEvents
+
     return ret, fp_ret
 
   @staticmethod

opendbc_repo/opendbc/car/interfaces.py

@@ -333,13 +333,11 @@ class CarInterfaceBase(ABC):
 
     # FrogPilot variables
     prev_distance_button = self.distance_button
-    self.distance_button = bool(self.CS.distance_button)
-    self.distance_button |= self.params_memory.get_bool("OnroadDistanceButtonPressed")
+    self.distance_button = self.params_memory.get_bool("OnroadDistanceButtonPressed")
+    if self.distance_button != prev_distance_button:
+      ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    distance_events = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
-    ret.buttonEvents = list(ret.buttonEvents) + [e for e in distance_events if not any(b.type == e.type for b in ret.buttonEvents)]
-
-    fp_ret.distancePressed = self.distance_button
+    fp_ret.distancePressed = self.distance_button or bool(self.CS.distance_button)
     fp_ret.ecoGear |= ret.gearShifter == GearShifter.eco
     fp_ret.sportGear |= ret.gearShifter == GearShifter.sport
 

opendbc_repo/opendbc/car/nissan/carstate.py

@@ -130,7 +130,7 @@ class CarState(CarStateBase):
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # FrogPilot variables
     fp_ret = custom.FrogPilotCarState.new_message()
@@ -138,10 +138,12 @@ class CarState(CarStateBase):
     self.prev_lkas_button = self.lkas_button
     self.lkas_button = ret.invalidLkasSetting
 
-    ret.buttonEvents = list(ret.buttonEvents) + [
+    buttonEvents += [
       *create_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas, 0: ButtonType.lkas}),
     ]
 
+    ret.buttonEvents = buttonEvents
+
     return ret, fp_ret
 
   @staticmethod

opendbc_repo/opendbc/car/rivian/carstate.py

@@ -54,7 +54,7 @@ class CarState(CarStateBase):
     ret.cruiseState.speed = self.last_speed * CV.MPH_TO_MS  # detected speed limit
     if not self.CP.openpilotLongitudinalControl:
       ret.cruiseState.speed = -1
-    ret.cruiseState.available = True  # cp.vl["VDM_AdasSts"]["VDM_AdasInterfaceStatus"] == 1
+    ret.cruiseState.available = cp.vl["VDM_AdasSts"]["VDM_AdasInterfaceStatus"] in (1, 2)
     ret.cruiseState.standstill = cp.vl["VDM_AdasSts"]["VDM_AdasVehicleHoldStatus"] == 1
 
     # ACM_Status->ACM_FaultSupervisorState normally 1, appears to go to 3 when either:

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -222,8 +222,6 @@ class CarState(CarStateBase):
 
         buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    ret.buttonEvents = buttonEvents
-
     # FrogPilot variables
     fp_ret = custom.FrogPilotCarState.new_message()
 
@@ -231,9 +229,9 @@ class CarState(CarStateBase):
       prev_distance_button = self.distance_button
       self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
-      ret.buttonEvents = list(ret.buttonEvents) + create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+      buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    ret.buttonEvents = list(ret.buttonEvents) + [
+    buttonEvents += [
       *create_button_events(self.pcm_acc_status == 9, False, {1: ButtonType.accelCruise}),
       *create_button_events(self.pcm_acc_status == 10, False, {1: ButtonType.decelCruise}),
     ]
@@ -260,6 +258,8 @@ class CarState(CarStateBase):
         if abs(ret.steeringAngleDeg - zorro_steer_value) < 4.0:
           ret.steeringAngleDeg = zorro_steer_value
 
+    ret.buttonEvents = buttonEvents
+
     return ret, fp_ret
 
   @staticmethod

selfdrive/monitoring/dmonitoringd.py

@@ -1,9 +1,12 @@
 #!/usr/bin/env python3
 import cereal.messaging as messaging
+from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
 
+GearShifter = structs.CarState.GearShifter
+
 
 def dmonitoringd_thread():
   config_realtime_process([0, 1, 2, 3], 5)
@@ -43,7 +46,7 @@ def dmonitoringd_thread():
     # load live always-on toggle
     if sm['driverStateV2'].frameId % 40 == 1:
       DM.always_on = params.get_bool("AlwaysOnDM")
-      demo_mode = params.get_bool("IsDriverViewEnabled")
+      demo_mode = params.get_bool("IsDriverViewEnabled") and sm["carState"].gearShifter != GearShifter.reverse
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and