#!/usr/bin/env python3 import json import math import os import random from functools import cache from pathlib import Path from types import SimpleNamespace import cereal.messaging as messaging from cereal import car, custom, log from opendbc.car import gen_empty_fingerprint from opendbc.car.car_helpers import interfaces from opendbc.car.gm.values import GMFlags from opendbc.car.interfaces import CarInterfaceBase, GearShifter from opendbc.car.mock.values import CAR as MOCK from opendbc.car.subaru.values import SubaruFlags from opendbc.car.toyota.values import ToyotaFrogPilotFlags from openpilot.common.basedir import BASEDIR from openpilot.common.constants import CV from openpilot.common.params import Params from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING from openpilot.system.version import get_build_metadata CITY_SPEED_LIMIT = 25 # 55mph is typically the minimum speed for highways CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive DEFAULT_LATERAL_ACCELERATION = 2.0 # m/s^2, typical lateral acceleration when taking curves DISPLAY_MENU_TIMER = 350 # The length of time the following distance menu appears on some GM vehicles to prevent things getting out of sync EARTH_RADIUS = 6378137 # Radius of the Earth in meters MAX_ACCELERATION = 4.0 # ISO 15622:2018 MAX_T_FOLLOW = 3.0 # Maximum allowed following duration. Larger values risk losing track of the lead but may be increased as models improve MINIMUM_LATERAL_ACCELERATION = 1.3 # m/s^2, typical minimum lateral acceleration when taking curves PLANNER_TIME = ModelConstants.T_IDXS[-1] # Length of time the model projects out for THRESHOLD = 1 - 1 / math.e # Requires the condition to be true for ~1 second NON_DRIVING_GEARS = [GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown] DISCORD_WEBHOOK_URL_REPORT = os.getenv("DISCORD_WEBHOOK_URL_REPORT") DISCORD_WEBHOOK_URL_THEME = os.getenv("DISCORD_WEBHOOK_URL_THEME") RESOURCES_REPO = "FrogAi/FrogPilot-Resources" ACTIVE_THEME_PATH = Path(BASEDIR) / "frogpilot/assets/active_theme" METADATAS_PATH = Path(BASEDIR) / "frogpilot/assets/model_metadata" MODELS_PATH = Path("/data/models") RANDOM_EVENTS_PATH = Path(BASEDIR) / "frogpilot/assets/random_events" STOCK_THEME_PATH = Path(BASEDIR) / "frogpilot/assets/stock_theme" THEME_COLORS_PATH = (ACTIVE_THEME_PATH / "colors/colors.json") THEME_SAVE_PATH = Path("/data/themes") ERROR_LOGS_PATH = Path("/data/error_logs") SCREEN_RECORDINGS_PATH = Path("/data/media/screen_recordings") VIDEO_CACHE_PATH = Path("/data/video_cache") BACKUP_PATH = Path("/cache/on_backup") FROGPILOT_BACKUPS = Path("/data/backups") TOGGLE_BACKUPS = Path("/data/toggle_backups") MAPD_PATH = Path("/data/media/0/osm/mapd") MAPS_PATH = Path("/data/media/0/osm/offline") BUTTON_FUNCTIONS = { "NOTHING": 0, "PERSONALITY_PROFILE": 1, "FORCE_COAST": 2, "PAUSE_LATERAL": 3, "PAUSE_LONGITUDINAL": 4, "EXPERIMENTAL_MODE": 5, "TRAFFIC_MODE": 6 } EXCLUDED_KEYS = { "AvailableModelNames", "AvailableModels", "CalibratedLateralAcceleration", "CalibrationProgress", "CarBatteryCapacity", "CarParamsPersistent", "CurvatureData", "ExperimentalLongitudinalEnabled", "FrogPilotCarParamsPersistent", "KonikMinutes", "LastUpdateTime", "MapBoxRequests", "ModelDrivesAndScores", "openpilotMinutes", "OverpassRequests", "PandaSignatures", "SpeedLimits", "SpeedLimitsFiltered", "UpdateFailedCount", "UpdaterAvailableBranches", "UpdaterCurrentDescription", "UpdaterCurrentReleaseNotes", "UpdaterFetchAvailable", "UpdaterTargetBranch", "UptimeOffroad" } TUNING_LEVELS = { "MINIMAL": 0, "STANDARD": 1, "ADVANCED": 2, "DEVELOPER": 3 } def get_frogpilot_toggles(sm=messaging.SubMaster(["frogpilotPlan"])): return process_frogpilot_toggles(sm["frogpilotPlan"].frogpilotToggles) @cache def process_frogpilot_toggles(toggles): if toggles: return SimpleNamespace(**json.loads(toggles)) return FrogPilotVariables().frogpilot_toggles def update_frogpilot_toggles(): if not hasattr(update_frogpilot_toggles, "_params_memory"): update_frogpilot_toggles._params_memory = Params(memory=True) update_frogpilot_toggles._params_memory.put_bool("FrogPilotTogglesUpdated", True) class FrogPilotVariables: def __init__(self): self.params = Params(return_defaults=True) self.params_memory = Params(memory=True) self.frogpilot_toggles = SimpleNamespace() toggle = self.frogpilot_toggles self.default_values = {key.decode(): self.params.get_default_value(key) for key in self.params.all_keys()} self.tuning_levels = {key.decode(): self.params.get_tuning_level(key) for key in self.params.all_keys()} branch = get_build_metadata().channel self.development_branch = branch == "FrogPilot-Development" self.release_branch = branch == "FrogPilot" self.staging_branch = branch == "FrogPilot-Staging" self.testing_branch = branch == "FrogPilot-Testing" self.vetting_branch = branch == "FrogPilot-Vetting" self.update() def get_value(self, key, cast=bool, condition=True, conversion=None, default=None, min=None, max=None): if not condition or (self.tuning_level < self.tuning_levels.get(key, 0)): if default is not None: return default return False if cast is bool else self.default_values.get(key) if cast is bool: value = self.params.get_bool(key) else: value = self.params.get(key) if value is not None: if cast is not bool and cast is not None: try: value = cast(value) except (TypeError, ValueError): value = self.default_values.get(key) elif default is not None: value = default if conversion is not None and isinstance(value, (int, float)): value *= conversion if min is not None and value < min: value = min elif max is not None and value > max: value = max return value def update(self, started=False): toggle = self.frogpilot_toggles self.tuning_level = self.params.get("TuningLevel") if self.params.get_bool("TuningLevelConfirmed") else TUNING_LEVELS["ADVANCED"] msg_bytes = self.params.get("CarParams" if started else "CarParamsPersistent", block=started) if msg_bytes: CP = messaging.log_from_bytes(msg_bytes, car.CarParams) else: CP = interfaces[MOCK.MOCK].get_params(MOCK.MOCK, gen_empty_fingerprint(), [], False, False, False, toggle).as_reader() is_torque_car = CP.lateralTuning.which() == "torque" if not is_torque_car: CP_builder = CP.as_builder() CarInterfaceBase.configure_torque_tune(MOCK.MOCK, CP_builder.lateralTuning) CP = CP_builder.as_reader() fpmsg_bytes = self.params.get("FrogPilotCarParams" if started else "FrogPilotCarParamsPersistent", block=started) if fpmsg_bytes: FPCP = messaging.log_from_bytes(fpmsg_bytes, custom.FrogPilotCarParams) else: FPCP = interfaces[MOCK.MOCK].get_frogpilot_params(MOCK.MOCK, gen_empty_fingerprint(), [], CP, toggle) toggle.car_make = CP.brand toggle.car_model = CP.carFingerprint has_bsm = CP.enableBsm toggle.has_pedal = CP.enableGasInterceptorDEPRECATED has_radar = not CP.radarUnavailable toggle.has_sdsu = toggle.car_make == "toyota" and bool(FPCP.flags & ToyotaFrogPilotFlags.SMART_DSU.value) has_sng = CP.autoResumeSng toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.flags & ToyotaFrogPilotFlags.ZSS.value) toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long pcm_cruise = CP.pcmCruise msg_bytes = self.params.get("LiveTorqueParameters") if msg_bytes: LTP = messaging.log_from_bytes(msg_bytes, log.LiveTorqueParametersData) else: 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.use_wheel_speed = self.get_value("WheelSpeed", condition=advanced_custom_ui) toggle.alert_volume_controller = self.get_value("AlertVolumeControl") toggle.disengage_volume = self.get_value("DisengageVolume", cast=float, condition=toggle.alert_volume_controller) toggle.engage_volume = self.get_value("EngageVolume", cast=float, condition=toggle.alert_volume_controller) toggle.prompt_volume = self.get_value("PromptVolume", cast=float, condition=toggle.alert_volume_controller) toggle.promptDistracted_volume = self.get_value("PromptDistractedVolume", cast=float, condition=toggle.alert_volume_controller) toggle.refuse_volume = self.get_value("RefuseVolume", cast=float, condition=toggle.alert_volume_controller) toggle.warningSoft_volume = self.get_value("WarningSoftVolume", cast=float, condition=toggle.alert_volume_controller) toggle.warningImmediate_volume = max(self.get_value("WarningImmediateVolume", cast=float, condition=toggle.alert_volume_controller, default=25), 25) toggle.automatic_updates = self.get_value("AutomaticUpdates", condition=(self.release_branch or self.vetting_branch), default=True) and not BACKUP_PATH.is_file() car_model = self.params.get("CarModel") toggle.force_fingerprint = self.get_value("ForceFingerprint", condition=car_model != self.default_values["CarModel"]) if toggle.force_fingerprint: toggle.car_model = car_model toggle.cluster_offset = self.get_value("ClusterOffset", cast=float, condition=toggle.car_make == "toyota") toggle.conditional_experimental_mode = toggle.openpilot_longitudinal and self.get_value("ConditionalExperimental") toggle.conditional_curves = self.get_value("CECurves", condition=toggle.conditional_experimental_mode) toggle.conditional_curves_lead = self.get_value("CECurvesLead", condition=toggle.conditional_curves) toggle.conditional_lead = self.get_value("CELead", condition=toggle.conditional_experimental_mode) toggle.conditional_slower_lead = self.get_value("CESlowerLead", condition=toggle.conditional_lead) toggle.conditional_stopped_lead = self.get_value("CEStoppedLead", condition=toggle.conditional_lead) toggle.conditional_limit = self.get_value("CESpeed", cast=float, condition=toggle.conditional_experimental_mode, conversion=speed_conversion) toggle.conditional_limit_lead = self.get_value("CESpeedLead", cast=float, condition=toggle.conditional_experimental_mode, conversion=speed_conversion) 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.curve_speed_controller = toggle.openpilot_longitudinal and self.get_value("CurveSpeedController") toggle.csc_status = self.get_value("ShowCSCStatus", condition=toggle.curve_speed_controller) custom_alerts = self.get_value("CustomAlerts") toggle.goat_scream_alert = self.get_value("GoatScream", condition=custom_alerts) toggle.green_light_alert = self.get_value("GreenLightAlert", condition=custom_alerts) toggle.lead_departing_alert = self.get_value("LeadDepartingAlert", condition=custom_alerts) toggle.loud_blindspot_alert = self.get_value("LoudBlindspotAlert", condition=custom_alerts and has_bsm) toggle.speed_limit_changed_alert = self.get_value("SpeedLimitChangedAlert", condition=custom_alerts) toggle.custom_personalities = toggle.openpilot_longitudinal and self.get_value("CustomPersonalities") toggle.aggressive_jerk_acceleration = self.get_value("AggressiveJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.aggressive_jerk_deceleration = self.get_value("AggressiveJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.aggressive_jerk_danger = self.get_value("AggressiveJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.aggressive_jerk_speed = self.get_value("AggressiveJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.aggressive_jerk_speed_decrease = self.get_value("AggressiveJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.aggressive_follow = self.get_value("AggressiveFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW) toggle.standard_jerk_acceleration = self.get_value("StandardJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.standard_jerk_deceleration = self.get_value("StandardJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.standard_jerk_danger = self.get_value("StandardJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.standard_jerk_speed = self.get_value("StandardJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.standard_jerk_speed_decrease = self.get_value("StandardJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.standard_follow = self.get_value("StandardFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW) toggle.relaxed_jerk_acceleration = self.get_value("RelaxedJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.relaxed_jerk_deceleration = self.get_value("RelaxedJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.relaxed_jerk_danger = self.get_value("RelaxedJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.relaxed_jerk_speed = self.get_value("RelaxedJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.relaxed_jerk_speed_decrease = self.get_value("RelaxedJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0) toggle.relaxed_follow = self.get_value("RelaxedFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW) toggle.traffic_mode_jerk_acceleration = [self.get_value("TrafficJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_acceleration] toggle.traffic_mode_jerk_deceleration = [self.get_value("TrafficJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_deceleration] toggle.traffic_mode_jerk_danger = [self.get_value("TrafficJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_danger] toggle.traffic_mode_jerk_speed = [self.get_value("TrafficJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_speed] toggle.traffic_mode_jerk_speed_decrease = [self.get_value("TrafficJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.aggressive_jerk_speed_decrease] toggle.traffic_mode_follow = [self.get_value("TrafficFollow", cast=float, condition=toggle.custom_personalities, min=0.5, max=MAX_T_FOLLOW), toggle.aggressive_follow] custom_ui = self.get_value("CustomUI") toggle.acceleration_path = toggle.openpilot_longitudinal and (self.get_value("AccelerationPath", condition=custom_ui)) 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) toggle.pedals_on_ui = self.get_value("PedalsOnUI", condition=custom_ui and toggle.openpilot_longitudinal) toggle.dynamic_pedals_on_ui = self.get_value("DynamicPedalsOnUI", condition=toggle.pedals_on_ui) toggle.static_pedals_on_ui = self.get_value("StaticPedalsOnUI", condition=toggle.pedals_on_ui) toggle.rotating_wheel = self.get_value("RotatingWheel", condition=custom_ui) toggle.developer_ui = self.get_value("DeveloperUI") 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.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) 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) device_management = self.get_value("DeviceManagement") toggle.increase_thermal_limits = self.get_value("IncreaseThermalLimits", condition=device_management) toggle.low_voltage_shutdown = self.get_value("LowVoltageShutdown", cast=float, condition=device_management, min=VBATT_PAUSE_CHARGING, max=12.5) toggle.no_logging = self.get_value("NoLogging", condition=device_management and not self.vetting_branch) toggle.no_uploads = self.get_value("NoUploads", condition=device_management and not self.vetting_branch) toggle.no_onroad_uploads = self.get_value("DisableOnroadUploads", condition=toggle.no_uploads) distance_button_control = self.get_value("DistanceButtonControl", cast=float) toggle.experimental_mode_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"] toggle.experimental_mode_via_press = toggle.experimental_mode_via_distance toggle.force_coast_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["FORCE_COAST"] toggle.pause_lateral_via_distance = distance_button_control == BUTTON_FUNCTIONS["PAUSE_LATERAL"] toggle.pause_longitudinal_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"] toggle.personality_profile_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"] toggle.traffic_mode_via_distance = toggle.openpilot_longitudinal and distance_button_control == BUTTON_FUNCTIONS["TRAFFIC_MODE"] distance_button_control_long = self.get_value("LongDistanceButtonControl", cast=float) toggle.experimental_mode_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"] toggle.experimental_mode_via_press |= toggle.experimental_mode_via_distance_long toggle.force_coast_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["FORCE_COAST"] toggle.pause_lateral_via_distance_long = distance_button_control_long == BUTTON_FUNCTIONS["PAUSE_LATERAL"] toggle.pause_longitudinal_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"] toggle.personality_profile_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"] toggle.traffic_mode_via_distance_long = toggle.openpilot_longitudinal and distance_button_control_long == BUTTON_FUNCTIONS["TRAFFIC_MODE"] distance_button_control_very_long = self.get_value("VeryLongDistanceButtonControl", cast=float) toggle.experimental_mode_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"] toggle.experimental_mode_via_press |= toggle.experimental_mode_via_distance_very_long toggle.force_coast_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["FORCE_COAST"] toggle.pause_lateral_via_distance_very_long = distance_button_control_very_long == BUTTON_FUNCTIONS["PAUSE_LATERAL"] toggle.pause_longitudinal_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"] toggle.personality_profile_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"] toggle.traffic_mode_via_distance_very_long = toggle.openpilot_longitudinal and distance_button_control_very_long == BUTTON_FUNCTIONS["TRAFFIC_MODE"] toggle.lane_changes = self.get_value("LaneChanges") toggle.lane_change_delay = self.get_value("LaneChangeTime", cast=float, condition=toggle.lane_changes) toggle.lane_detection_width = self.get_value("LaneDetectionWidth", cast=float, condition=toggle.lane_changes, conversion=distance_conversion) toggle.minimum_lane_change_speed = self.get_value("MinimumLaneChangeSpeed", cast=float, condition=toggle.lane_changes, conversion=speed_conversion) toggle.nudgeless = self.get_value("NudgelessLaneChange", condition=toggle.lane_changes) toggle.one_lane_change = self.get_value("OneLaneChange", condition=toggle.lane_changes) lateral_tuning = self.get_value("LateralTune") toggle.use_turn_desires = self.get_value("TurnDesires", condition=lateral_tuning) lkas_button_control = self.get_value("LKASButtonControl", cast=float, condition=toggle.car_make != "subaru") toggle.experimental_mode_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"] toggle.experimental_mode_via_press |= toggle.experimental_mode_via_lkas toggle.force_coast_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["FORCE_COAST"] toggle.pause_lateral_via_lkas = lkas_button_control == BUTTON_FUNCTIONS["PAUSE_LATERAL"] toggle.pause_longitudinal_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["PAUSE_LONGITUDINAL"] toggle.personality_profile_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["PERSONALITY_PROFILE"] toggle.traffic_mode_via_lkas = toggle.openpilot_longitudinal and lkas_button_control == BUTTON_FUNCTIONS["TRAFFIC_MODE"] toggle.lock_doors_timer = self.get_value("LockDoorsTimer", cast=float, condition=(toggle.car_make == "toyota")) longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("LongitudinalTune") toggle.acceleration_profile = self.get_value("AccelerationProfile", cast=float, condition=longitudinal_tuning) toggle.deceleration_profile = self.get_value("DecelerationProfile", cast=float, condition=longitudinal_tuning) toggle.human_acceleration = self.get_value("HumanAcceleration", condition=longitudinal_tuning) toggle.human_following = self.get_value("HumanFollowing", condition=longitudinal_tuning) toggle.human_lane_changes = has_radar and self.get_value("HumanLaneChanges", condition=longitudinal_tuning) toggle.lead_detection_probability = self.get_value("LeadDetectionThreshold", cast=float, condition=longitudinal_tuning, conversion=0.01, min=0.25, max=0.5) 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) 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.speed_limit_vienna = self.get_value("UseVienna", condition=navigation_ui) quality_of_life_lateral = self.get_value("QOLLateral") toggle.pause_lateral_below_speed = self.get_value("PauseLateralSpeed", cast=float, condition=quality_of_life_lateral, conversion=speed_conversion) toggle.pause_lateral_below_signal = self.get_value("PauseLateralOnSignal", condition=toggle.pause_lateral_below_speed != 0) quality_of_life_longitudinal = toggle.openpilot_longitudinal and self.get_value("QOLLongitudinal") toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise)) toggle.cruise_increase_long = self.get_value("CustomCruiseLong", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise)) toggle.force_stops = self.get_value("ForceStops", condition=quality_of_life_longitudinal) toggle.increase_stopped_distance = self.get_value("IncreasedStoppedDistance", cast=float, condition=quality_of_life_longitudinal, conversion=distance_conversion) map_gears = self.get_value("MapGears", condition=quality_of_life_longitudinal) toggle.map_acceleration = self.get_value("MapAcceleration", condition=map_gears) toggle.map_deceleration = self.get_value("MapDeceleration", condition=map_gears) toggle.reverse_cruise_increase = self.get_value("ReverseCruise", condition=quality_of_life_longitudinal and toggle.car_make == "toyota" and pcm_cruise) toggle.set_speed_offset = self.get_value("SetSpeedOffset", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise), conversion=(1 if toggle.is_metric else CV.MPH_TO_KPH)) toggle.weather_presets = self.get_value("WeatherPresets", condition=quality_of_life_longitudinal) toggle.increase_following_distance_low_visibility = self.get_value("IncreaseFollowingLowVisibility", cast=float, condition=toggle.weather_presets) toggle.increase_following_distance_rain = self.get_value("IncreaseFollowingRain", cast=float, condition=toggle.weather_presets) toggle.increase_following_distance_rain_storm = self.get_value("IncreaseFollowingRainStorm", cast=float, condition=toggle.weather_presets) toggle.increase_following_distance_snow = self.get_value("IncreaseFollowingSnow", cast=float, condition=toggle.weather_presets) toggle.increase_stopped_distance_low_visibility = self.get_value("IncreasedStoppedDistanceLowVisibility", cast=float, condition=toggle.weather_presets, conversion=distance_conversion) toggle.increase_stopped_distance_rain = self.get_value("IncreasedStoppedDistanceRain", cast=float, condition=toggle.weather_presets, conversion=distance_conversion) toggle.increase_stopped_distance_rain_storm = self.get_value("IncreasedStoppedDistanceRainStorm", cast=float, condition=toggle.weather_presets, conversion=distance_conversion) toggle.increase_stopped_distance_snow = self.get_value("IncreasedStoppedDistanceSnow", cast=float, condition=toggle.weather_presets, conversion=distance_conversion) toggle.reduce_acceleration_low_visibility = self.get_value("ReduceAccelerationLowVisibility", cast=float, condition=toggle.weather_presets, conversion=0.01) toggle.reduce_acceleration_rain = self.get_value("ReduceAccelerationRain", cast=float, condition=toggle.weather_presets, conversion=0.01) toggle.reduce_acceleration_rain_storm = self.get_value("ReduceAccelerationRainStorm", cast=float, condition=toggle.weather_presets, conversion=0.01) toggle.reduce_acceleration_snow = self.get_value("ReduceAccelerationSnow", cast=float, condition=toggle.weather_presets, conversion=0.01) toggle.reduce_lateral_acceleration_low_visibility = self.get_value("ReduceLateralAccelerationLowVisibility", cast=float, condition=toggle.weather_presets, conversion=0.01) toggle.reduce_lateral_acceleration_rain = self.get_value("ReduceLateralAccelerationRain", cast=float, condition=toggle.weather_presets, conversion=0.01) toggle.reduce_lateral_acceleration_rain_storm = self.get_value("ReduceLateralAccelerationRainStorm", cast=float, condition=toggle.weather_presets, conversion=0.01) 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.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.stopped_timer = self.get_value("StoppedTimer", condition=quality_of_life_visuals) toggle.rainbow_path = self.get_value("RainbowPath") 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_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) toggle.sng_hack = self.get_value("SNGHack", condition=toggle.openpilot_longitudinal and toggle.car_make == "toyota" and not toggle.has_pedal and not has_sng) toggle.speed_limit_controller = toggle.openpilot_longitudinal and self.get_value("SpeedLimitController") 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) 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 toggle.slc_fallback_set_speed = slc_fallback_method == 0 toggle.slc_mapbox_filler = self.get_value("SLCMapboxFiller", condition=(toggle.show_speed_limits or toggle.speed_limit_controller) and self.params.get("MapboxSecretKey") is not None) speed_limit_confirmation = self.get_value("SLCConfirmation", condition=toggle.speed_limit_controller) toggle.speed_limit_confirmation_higher = self.get_value("SLCConfirmationHigher", condition=speed_limit_confirmation) toggle.speed_limit_confirmation_lower = self.get_value("SLCConfirmationLower", condition=speed_limit_confirmation) slc_override_method = self.get_value("SLCOverride", cast=float, condition=toggle.speed_limit_controller) toggle.speed_limit_controller_override_manual = slc_override_method == 1 toggle.speed_limit_controller_override_set_speed = slc_override_method == 2 toggle.speed_limit_offset1 = self.get_value("Offset1", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion) toggle.speed_limit_offset2 = self.get_value("Offset2", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion) toggle.speed_limit_offset3 = self.get_value("Offset3", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion) toggle.speed_limit_offset4 = self.get_value("Offset4", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion) toggle.speed_limit_offset5 = self.get_value("Offset5", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion) toggle.speed_limit_offset6 = self.get_value("Offset6", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion) toggle.speed_limit_offset7 = self.get_value("Offset7", cast=float, condition=toggle.speed_limit_controller, conversion=speed_conversion) toggle.speed_limit_priority1 = self.get_value("SLCPriority1", cast=None, condition=toggle.speed_limit_controller) 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_filler = self.get_value("SpeedLimitFiller") toggle.startup_alert_top = self.get_value("StartupMessageTop", cast=str, default="") toggle.startup_alert_bottom = self.get_value("StartupMessageBottom", cast=str, default="") toggle.tethering_config = self.get_value("TetheringEnabled", cast=float) toyota_doors = self.get_value("ToyotaDoors", condition=toggle.car_make == "toyota") toggle.lock_doors = self.get_value("LockDoors", condition=toyota_doors) toggle.unlock_doors = self.get_value("UnlockDoors", condition=toyota_doors) toggle.volt_sng = self.get_value("VoltSNG", condition=toggle.car_model == "CHEVROLET_VOLT") self.params_memory.remove("FrogPilotTogglesUpdated")