import json
from cereal import car, custom, log, messaging
from enum import IntEnum
from openpilot.common.params import Params
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.confirm_dialog import alert_dialog
from openpilot.system.ui.widgets.list_view import button_item, multiple_button_item
from openpilot.system.ui.widgets.scroller_tici import Scroller
from openpilot.frogpilot.common.frogpilot_variables import (
TUNING_LEVELS,
nnff_supported,
update_frogpilot_toggles,
)
from openpilot.frogpilot.ui.layouts.settings.data_settings import FrogPilotDataPanel
from openpilot.frogpilot.ui.layouts.settings.device_settings import FrogPilotDevicePanel
from openpilot.frogpilot.ui.layouts.settings.lateral_settings import FrogPilotLateralPanel
from openpilot.frogpilot.ui.layouts.settings.longitudinal_settings import FrogPilotLongitudinalPanel
from openpilot.frogpilot.ui.layouts.settings.model_settings import FrogPilotModelPanel
from openpilot.frogpilot.ui.layouts.settings.sounds_settings import FrogPilotSoundsPanel
from openpilot.frogpilot.ui.layouts.settings.theme_settings import FrogPilotThemePanel
from openpilot.frogpilot.ui.layouts.settings.utilities import FrogPilotUtilitiesPanel
from openpilot.frogpilot.ui.layouts.settings.vehicle_settings import FrogPilotVehiclesPanel
from openpilot.frogpilot.ui.layouts.settings.visual_settings import FrogPilotVisualsPanel
TUNING_BUTTON_WIDTH = 180
class SubPanel(IntEnum):
NONE = 0
DATA = 1
DEVICE = 2
LATERAL = 3
LONGITUDINAL = 4
MODEL = 5
SOUNDS = 6
THEME = 7
UTILITIES = 8
VEHICLES = 9
VISUALS = 10
class FrogPilotLayout(Widget):
def __init__(self):
super().__init__()
self._params = Params()
self._can_use_pedal = False
self._can_use_sdsu = False
self._car_make = ""
self._car_model = ""
self._current_subpanel = SubPanel.NONE
self._force_open_descriptions = False
self._friction = 0.0
self._frogpilot_toggle_levels = {}
self._has_alpha_longitudinal = False
self._has_auto_tune = True
self._has_bsm = True
self._has_dash_speed_limits = True
self._has_nnff_log = True
self._has_openpilot_longitudinal = True
self._has_pcm_cruise = False
self._has_pedal = False
self._has_radar = True
self._has_sdsu = False
self._has_sng = False
self._has_zss = False
self._is_angle_car = False
self._is_bolt = False
self._is_frogs_go_moo = False
self._is_gm = True
self._is_hkg = True
self._is_hkg_canfd = True
self._is_subaru = False
self._is_torque_car = False
self._is_toyota = True
self._is_tsk = False
self._is_volt = True
self._lat_accel_factor = 0.0
self._lkas_allowed_for_aol = False
self._longitudinal_actuator_delay = 0.0
self._openpilot_longitudinal_control_disabled = False
self._shown_descriptions = {}
self._start_accel = 0.0
self._steer_actuator_delay = 0.0
self._steer_kp = 1.0
self._steer_ratio = 0.0
self._stop_accel = 0.0
self._stopping_decel_rate = 0.0
self._tuning_level = self._params.get_int("TuningLevel") or 0
self._v_ego_starting = 0.0
self._v_ego_stopping = 0.0
self._subpanels = {
SubPanel.DATA: FrogPilotDataPanel(),
SubPanel.DEVICE: FrogPilotDevicePanel(),
SubPanel.LATERAL: FrogPilotLateralPanel(),
SubPanel.LONGITUDINAL: FrogPilotLongitudinalPanel(),
SubPanel.MODEL: FrogPilotModelPanel(),
SubPanel.SOUNDS: FrogPilotSoundsPanel(),
SubPanel.THEME: FrogPilotThemePanel(),
SubPanel.UTILITIES: FrogPilotUtilitiesPanel(),
SubPanel.VEHICLES: FrogPilotVehiclesPanel(),
SubPanel.VISUALS: FrogPilotVisualsPanel(),
}
self._load_shown_descriptions()
self._load_toggle_levels()
self._check_force_open_descriptions()
self._tuning_level_item = multiple_button_item(
lambda: "Tuning Level",
lambda: (
"Choose your tuning level. Lower levels keep it simple; higher levels unlock more toggles for finer control.\n\n"
"Minimal - Ideal for those who prefer simplicity or ease of use\n"
"Standard - Recommended for most users for a balanced experience\n"
"Advanced - Fine-tuning for experienced users\n"
"Developer - Highly customizable settings for seasoned enthusiasts"
),
buttons=[lambda: "Minimal", lambda: "Standard", lambda: "Advanced", lambda: "Developer"],
button_width=TUNING_BUTTON_WIDTH,
selected_index=self._tuning_level,
callback=self._on_tuning_level_changed,
icon="../../frogpilot/assets/toggle_icons/icon_tuning.png",
)
self._sound_panel_item = button_item(
lambda: "Alerts and Sounds",
lambda: "MANAGE",
lambda: "Adjust alert volumes and enable custom notifications.",
callback=lambda: self._open_subpanel(SubPanel.SOUNDS),
)
self._model_panel_item = button_item(
lambda: "Driving Model",
lambda: "MANAGE",
lambda: "Select and configure driving models.",
callback=lambda: self._open_subpanel(SubPanel.MODEL),
)
self._longitudinal_panel_item = button_item(
lambda: "Gas / Brake",
lambda: "MANAGE",
lambda: "Fine-tune acceleration and braking controls.",
callback=lambda: self._open_subpanel(SubPanel.LONGITUDINAL),
)
self._lateral_panel_item = button_item(
lambda: "Steering",
lambda: "MANAGE",
lambda: "Fine-tune steering controls.",
callback=lambda: self._open_subpanel(SubPanel.LATERAL),
)
self._data_panel_item = button_item(
lambda: "Data",
lambda: "MANAGE",
lambda: "Manage data and backups.",
callback=lambda: self._open_subpanel(SubPanel.DATA),
)
self._device_panel_item = button_item(
lambda: "Device Controls",
lambda: "MANAGE",
lambda: "Configure device settings and screen options.",
callback=lambda: self._open_subpanel(SubPanel.DEVICE),
)
self._utilities_panel_item = button_item(
lambda: "Utilities",
lambda: "MANAGE",
lambda: "Tools to keep FrogPilot running smoothly.",
callback=lambda: self._open_subpanel(SubPanel.UTILITIES),
)
self._visuals_panel_item = button_item(
lambda: "Appearance",
lambda: "MANAGE",
lambda: "Customize the look of the driving screen.",
callback=lambda: self._open_subpanel(SubPanel.VISUALS),
)
self._theme_panel_item = button_item(
lambda: "Theme",
lambda: "MANAGE",
lambda: "Customize themes and colors.",
callback=lambda: self._open_subpanel(SubPanel.THEME),
)
self._vehicles_panel_item = button_item(
lambda: "Vehicle Settings",
lambda: "MANAGE",
lambda: "Configure car-specific options.",
callback=lambda: self._open_subpanel(SubPanel.VEHICLES),
)
items = [
self._tuning_level_item,
self._sound_panel_item,
self._model_panel_item,
self._longitudinal_panel_item,
self._lateral_panel_item,
self._data_panel_item,
self._device_panel_item,
self._utilities_panel_item,
self._visuals_panel_item,
self._theme_panel_item,
self._vehicles_panel_item,
]
self._main_scroller = Scroller(items, line_separator=True, spacing=0)
ui_state.add_offroad_transition_callback(self._update_variables)
def _load_shown_descriptions(self):
try:
data = self._params.get("ShownToggleDescriptions")
if data:
self._shown_descriptions = json.loads(data)
except (json.JSONDecodeError, TypeError):
self._shown_descriptions = {}
def _save_shown_descriptions(self):
self._params.put_nonblocking("ShownToggleDescriptions", json.dumps(self._shown_descriptions))
def _load_toggle_levels(self):
keys = self._params.all_keys()
for key in keys:
key_str = key.decode() if isinstance(key, bytes) else key
self._frogpilot_toggle_levels[key_str] = self._params.get_tuning_level(key)
def _check_force_open_descriptions(self):
class_name = "FrogPilotLayout"
if not self._shown_descriptions.get(class_name, False):
self._force_open_descriptions = True
def _on_tuning_level_changed(self, level: int):
self._tuning_level = level
self._params.put_int("TuningLevel", level)
update_frogpilot_toggles()
self._update_panel_visibility()
if level == TUNING_LEVELS["DEVELOPER"]:
gui_app.set_modal_overlay(alert_dialog(
"WARNING: These settings are risky and can drastically change how openpilot drives. "
"Only change if you fully understand what they do!"
))
def _open_subpanel(self, subpanel: SubPanel):
if self._current_subpanel != SubPanel.NONE:
self._subpanels[self._current_subpanel].hide_event()
self._current_subpanel = subpanel
if subpanel != SubPanel.NONE:
self._subpanels[subpanel].show_event()
def _close_subpanel(self):
if self._current_subpanel != SubPanel.NONE:
self._subpanels[self._current_subpanel].hide_event()
self._current_subpanel = SubPanel.NONE
def _render(self, rect):
if self._current_subpanel != SubPanel.NONE:
self._subpanels[self._current_subpanel].render(rect)
else:
self._main_scroller.render(rect)
def show_event(self):
super().show_event()
self._main_scroller.show_event()
class_name = "FrogPilotLayout"
if not self._shown_descriptions.get(class_name, False):
self._shown_descriptions[class_name] = True
self._save_shown_descriptions()
if self._force_open_descriptions:
self._force_open_descriptions = False
gui_app.set_modal_overlay(alert_dialog(
"All toggle descriptions are currently expanded. You can tap a toggle's name to open or close its description at any time!"
))
if self._current_subpanel != SubPanel.NONE:
self._subpanels[self._current_subpanel].show_event()
self._update_variables()
def hide_event(self):
super().hide_event()
if self._current_subpanel != SubPanel.NONE:
self._subpanels[self._current_subpanel].hide_event()
update_frogpilot_toggles()
def _update_variables(self):
try:
car_params_bytes = self._params.get("CarParamsPersistent")
if car_params_bytes:
CP = messaging.log_from_bytes(car_params_bytes, car.CarParams)
self._car_make = CP.brand
self._car_model = CP.carFingerprint
self._friction = CP.lateralTuning.torque.friction
self._has_alpha_longitudinal = CP.alphaLongitudinalAvailable
self._has_bsm = CP.enableBsm
self._has_dash_speed_limits = self._car_make in ("ford", "hyundai", "toyota")
self._has_nnff_log = nnff_supported(self._car_model)
self._has_openpilot_longitudinal = CP.openpilotLongitudinalControl
self._has_pcm_cruise = CP.pcmCruise
self._has_pedal = CP.enableGasInterceptorDEPRECATED
self._has_radar = not CP.radarUnavailable
self._has_sng = CP.autoResumeSng
self._is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
self._is_bolt = self._car_model in ("CHEVROLET_BOLT_CC", "CHEVROLET_BOLT_EUV")
self._is_gm = self._car_make == "gm"
self._is_hkg = self._car_make == "hyundai"
self._is_subaru = self._car_make == "subaru"
self._is_torque_car = CP.lateralTuning.which() == "torque"
self._is_toyota = self._car_make == "toyota"
self._is_tsk = CP.secOcRequired
self._is_volt = self._car_model == "CHEVROLET_VOLT"
self._lat_accel_factor = CP.lateralTuning.torque.latAccelFactor
self._longitudinal_actuator_delay = CP.longitudinalActuatorDelay
self._start_accel = CP.startAccel
self._steer_actuator_delay = CP.steerActuatorDelay
self._steer_ratio = CP.steerRatio
self._stop_accel = CP.stopAccel
self._stopping_decel_rate = CP.stoppingDecelRate
self._v_ego_starting = CP.vEgoStarting
self._v_ego_stopping = CP.vEgoStopping
self._update_stock_values(CP)
except Exception:
pass
try:
fp_car_params_bytes = self._params.get("FrogPilotCarParamsPersistent")
if fp_car_params_bytes:
FPCP = messaging.log_from_bytes(fp_car_params_bytes, custom.FrogPilotCarParams)
self._can_use_pedal = FPCP.canUsePedal
self._can_use_sdsu = FPCP.canUseSDSU
self._openpilot_longitudinal_control_disabled = FPCP.openpilotLongitudinalControlDisabled
except Exception:
pass
try:
ltp_bytes = self._params.get("LiveTorqueParameters")
if ltp_bytes:
LTP = messaging.log_from_bytes(ltp_bytes, log.LiveTorqueParametersData)
self._has_auto_tune = LTP.useParams
except Exception:
pass
self._update_panel_visibility()
def _update_stock_values(self, CP):
stock_params = [
("SteerDelayStock", "SteerDelay", self._steer_actuator_delay),
("SteerFrictionStock", "SteerFriction", self._friction),
("SteerKPStock", "SteerKP", self._steer_kp),
("SteerLatAccelStock", "SteerLatAccel", self._lat_accel_factor),
("LongitudinalActuatorDelayStock", "LongitudinalActuatorDelay", self._longitudinal_actuator_delay),
("StartAccelStock", "StartAccel", self._start_accel),
("SteerRatioStock", "SteerRatio", self._steer_ratio),
("StopAccelStock", "StopAccel", self._stop_accel),
("StoppingDecelRateStock", "StoppingDecelRate", self._stopping_decel_rate),
("VEgoStartingStock", "VEgoStarting", self._v_ego_starting),
("VEgoStoppingStock", "VEgoStopping", self._v_ego_stopping),
]
for stock_key, user_key, new_value in stock_params:
if new_value == 0:
continue
current_stock = self._params.get_float(stock_key)
if current_stock != new_value:
current_user = self._params.get_float(user_key)
if current_user == current_stock or current_stock == 0:
self._params.put_float_nonblocking(user_key, new_value)
self._params.put_float_nonblocking(stock_key, new_value)
def _update_panel_visibility(self):
self._longitudinal_panel_item.set_visible(self._has_openpilot_longitudinal)
device_mgmt_level = self._frogpilot_toggle_levels.get("DeviceManagement", 0)
screen_mgmt_level = self._frogpilot_toggle_levels.get("ScreenManagement", 0)
self._device_panel_item.set_visible(self._tuning_level >= device_mgmt_level or self._tuning_level >= screen_mgmt_level)
@property
def tuning_level(self) -> int:
return self._tuning_level
@property
def has_openpilot_longitudinal(self) -> bool:
return self._has_openpilot_longitudinal
@property
def car_make(self) -> str:
return self._car_make
@property
def car_model(self) -> str:
return self._car_model