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b705b02e707ca97a75c19e5d4e6010e562d34a2b
StarPilot/selfdrive/frogpilot/frogpilot_variables.py
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FrogAi b705b02e70 FrogPilot 0.9.7
2025-01-28 12:53:28 -07:00

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Python
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#!/usr/bin/env python3
import json
import math
import random
from pathlib import Path
from types import SimpleNamespace
from cereal import car, log
from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.params import Params, UnknownKeyName
from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
from openpilot.system.version import get_build_metadata
from panda import ALTERNATIVE_EXPERIENCE
params = Params()
params_default = Params("/dev/shm/params_default")
params_memory = Params("/dev/shm/params")
GearShifter = car.CarState.GearShifter
NON_DRIVING_GEARS = [GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown]
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
LANE_WIDTH = 3.2 # Roughly the average lane width
MODEL_LENGTH = ModelConstants.IDX_N # Minimum length of the model
PLANNER_TIME = ModelConstants.T_IDXS[MODEL_LENGTH - 1] # Length of time the model projects out for
THRESHOLD = 0.63 # Requires the condition to be true for ~1 second
TO_RADIANS = math.pi / 180 # Conversion factor from degrees to radians
ACTIVE_THEME_PATH = Path(__file__).parent / "assets/active_theme"
METADATAS_PATH = Path(__file__).parent / "assets/model_metadata"
MODELS_PATH = Path("/data/models")
RANDOM_EVENTS_PATH = Path(__file__).parent / "assets/random_events"
THEME_SAVE_PATH = Path("/data/themes")
MAPD_PATH = Path("/data/media/0/osm/mapd")
MAPS_PATH = Path("/data/media/0/osm/offline")
DEFAULT_MODEL = "national-public-radio"
DEFAULT_MODEL_NAME = "National Public Radio 👀📡"
DEFAULT_MODEL_VERSION = "v6"
DEFAULT_CLASSIC_MODEL = "wd-40"
DEFAULT_CLASSIC_MODEL_NAME = "WD-40 (Default) 👀📡"
DEFAULT_CLASSIC_MODEL_VERSION = "v2"
def get_frogpilot_toggles(block=True):
return SimpleNamespace(**json.loads(params_memory.get("FrogPilotToggles", block=block) or "{}"))
def has_prime():
return params.get_int("PrimeType") > 0
def update_frogpilot_toggles():
params_memory.put_bool("FrogPilotTogglesUpdated", True)
frogpilot_default_params: list[tuple[str, str | bytes, int]] = [
("AccelerationPath", "1", 2),
("AccelerationProfile", "2", 0),
("AdjacentLeadsUI", "0", 3),
("AdjacentPath", "0", 3),
("AdjacentPathMetrics", "0", 3),
("AdvancedCustomUI", "0", 2),
("AdvancedLateralTune", "0", 3),
("AggressiveFollow", "1.25", 2),
("AggressiveJerkAcceleration", "50", 3),
("AggressiveJerkDanger", "100", 3),
("AggressiveJerkDeceleration", "50", 3),
("AggressiveJerkSpeed", "50", 3),
("AggressiveJerkSpeedDecrease", "50", 3),
("AggressivePersonalityProfile", "1", 2),
("AlertVolumeControl", "0", 2),
("AlwaysOnLateral", "1", 0),
("AlwaysOnLateralLKAS", "0", 0),
("AlwaysOnLateralMain", "1", 1),
("AMapKey1", "", 0),
("AMapKey2", "", 0),
("AutomaticallyUpdateModels", "1", 1),
("AutomaticUpdates", "1", 0),
("AvailableModels", "", 1),
("AvailableModelNames", "", 1),
("BigMap", "0", 2),
("BlacklistedModels", "", 2),
("BlindSpotMetrics", "1", 3),
("BlindSpotPath", "1", 0),
("BorderMetrics", "0", 3),
("CameraView", "3", 2),
("CarMake", "", 0),
("CarModel", "", 0),
("CarModelName", "", 0),
("CECurves", "1", 1),
("CECurvesLead", "0", 1),
("CELead", "0", 1),
("CEModelStopTime", "8", 2),
("CENavigation", "1", 2),
("CENavigationIntersections", "0", 2),
("CENavigationLead", "1", 2),
("CENavigationTurns", "1", 2),
("CESignalSpeed", "55", 2),
("CESignalLaneDetection", "1", 2),
("CESlowerLead", "0", 1),
("CESpeed", "0", 1),
("CESpeedLead", "0", 1),
("CEStoppedLead", "0", 1),
("ClusterOffset", "1.015", 2),
("Compass", "0", 1),
("ConditionalExperimental", "1", 0),
("CurveSensitivity", "100", 2),
("CurveSpeedControl", "0", 1),
("CustomAlerts", "1", 0),
("CustomColors", "frog", 0),
("CustomCruise", "1", 2),
("CustomCruiseLong", "5", 2),
("CustomDistanceIcons", "stock", 0),
("CustomIcons", "frog-animated", 0),
("CustomPersonalities", "0", 2),
("CustomSignals", "frog", 0),
("CustomSounds", "frog", 0),
("CustomUI", "1", 0),
("DecelerationProfile", "1", 2),
("DeveloperUI", "0", 3),
("DeviceManagement", "1", 1),
("DeviceShutdown", "9", 1),
("DisableOnroadUploads", "0", 2),
("DisableOpenpilotLongitudinal", "0", 2),
("DiscordUsername", "", 0),
("DisengageVolume", "101", 2),
("DriverCamera", "0", 1),
("DynamicPathWidth", "0", 2),
("DynamicPedalsOnUI", "1", 2),
("EngageVolume", "101", 2),
("ExperimentalGMTune", "0", 2),
("ExperimentalModeActivation", "1", 1),
("ExperimentalModels", "", 1),
("ExperimentalModeViaDistance", "1", 1),
("ExperimentalModeViaLKAS", "1", 1),
("ExperimentalModeViaTap", "0", 1),
("Fahrenheit", "0", 3),
("ForceAutoTune", "0", 2),
("ForceAutoTuneOff", "0", 2),
("ForceFingerprint", "0", 2),
("ForceMPHDashboard", "0", 2),
("ForceStandstill", "0", 2),
("ForceStops", "0", 2),
("FPSCounter", "1", 3),
("FrogsGoMoosTweak", "1", 2),
("FullMap", "0", 2),
("GasRegenCmd", "1", 2),
("GMapKey", "", 0),
("GoatScream", "0", 2),
("GreenLightAlert", "0", 0),
("HideAlerts", "0", 2),
("HideCSCUI", "0", 2),
("HideLeadMarker", "0", 2),
("HideMapIcon", "0", 2),
("HideMaxSpeed", "0", 2),
("HideSpeed", "0", 2),
("HideSpeedLimit", "0", 2),
("HolidayThemes", "1", 0),
("HumanAcceleration", "1", 2),
("HumanFollowing", "1", 2),
("IncreasedStoppedDistance", "0", 2),
("IncreaseThermalLimits", "0", 3),
("JerkInfo", "0", 3),
("LaneChangeCustomizations", "0", 0),
("LaneChangeTime", "2.0", 0),
("LaneDetectionWidth", "0", 2),
("LaneLinesWidth", "4", 2),
("LateralMetrics", "1", 3),
("LateralTune", "1", 2),
("LeadDepartingAlert", "0", 0),
("LeadDetectionThreshold", "35", 3),
("LeadInfo", "1", 3),
("LockDoors", "1", 0),
("LockDoorsTimer", "0", 0),
("LongitudinalMetrics", "1", 3),
("LongitudinalTune", "1", 0),
("LongPitch", "1", 2),
("LoudBlindspotAlert", "0", 0),
("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 3),
("MapAcceleration", "0", 2),
("MapDeceleration", "0", 2),
("MapGears", "0", 2),
("MapboxPublicKey", "", 0),
("MapboxSecretKey", "", 0),
("MapsSelected", "", 0),
("MapStyle", "0", 2),
("MapTurnControl", "1", 1),
("MaxDesiredAcceleration", "4.0", 3),
("MinimumLaneChangeSpeed", str(LANE_CHANGE_SPEED_MIN / CV.MPH_TO_MS), 2),
("Model", DEFAULT_CLASSIC_MODEL, 1),
("ModelDrivesAndScores", "", 2),
("ModelRandomizer", "0", 2),
("ModelUI", "1", 2),
("ModelVersion", DEFAULT_CLASSIC_MODEL_VERSION, 2),
("ModelVersions", "", 2),
("MTSCCurvatureCheck", "1", 2),
("NavigationUI", "1", 2),
("NewLongAPI", "0", 2),
("NewLongAPIGM", "1", 2),
("NNFF", "1", 2),
("NNFFLite", "1", 2),
("NoLogging", "0", 2),
("NoUploads", "0", 2),
("NudgelessLaneChange", "0", 0),
("NumericalTemp", "1", 3),
("OfflineMode", "0", 2),
("Offset1", "5", 0),
("Offset2", "5", 0),
("Offset3", "5", 0),
("Offset4", "10", 0),
("OneLaneChange", "1", 2),
("OnroadDistanceButton", "0", 0),
("openpilotMinutes", "0", 0),
("PathEdgeWidth", "20", 2),
("PathWidth", "6.1", 2),
("PauseAOLOnBrake", "0", 2),
("PauseLateralOnSignal", "0", 2),
("PauseLateralSpeed", "0", 2),
("PedalsOnUI", "0", 2),
("PersonalizeOpenpilot", "1", 0),
("PreferredSchedule", "2", 0),
("PromptDistractedVolume", "101", 2),
("PromptVolume", "101", 2),
("QOLLateral", "1", 2),
("QOLLongitudinal", "1", 2),
("QOLVisuals", "1", 0),
("RainbowPath", "0", 1),
("RandomEvents", "0", 1),
("RefuseVolume", "101", 2),
("RelaxedFollow", "1.75", 2),
("RelaxedJerkAcceleration", "100", 3),
("RelaxedJerkDanger", "100", 3),
("RelaxedJerkDeceleration", "100", 3),
("RelaxedJerkSpeed", "100", 3),
("RelaxedJerkSpeedDecrease", "100", 3),
("RelaxedPersonalityProfile", "1", 2),
("ReverseCruise", "0", 2),
("RoadEdgesWidth", "2", 2),
("RoadNameUI", "1", 2),
("RotatingWheel", "1", 1),
("ScreenBrightness", "101", 2),
("ScreenBrightnessOnroad", "101", 2),
("ScreenManagement", "1", 2),
("ScreenRecorder", "1", 2),
("ScreenTimeout", "30", 2),
("ScreenTimeoutOnroad", "30", 2),
("SearchInput", "0", 0),
("SetSpeedLimit", "0", 2),
("SetSpeedOffset", "0", 2),
("ShowCEMStatus", "1", 2),
("ShowCPU", "1", 3),
("ShowGPU", "0", 3),
("ShowIP", "0", 3),
("ShowMemoryUsage", "1", 3),
("ShowSLCOffset", "1", 2),
("ShowSpeedLimits", "1", 0),
("ShowSteering", "0", 3),
("ShowStoppingPoint", "0", 3),
("ShowStoppingPointMetrics", "0", 3),
("ShowStorageLeft", "0", 3),
("ShowStorageUsed", "0", 3),
("Sidebar", "0", 0),
("SidebarMetrics", "1", 3),
("SignalMetrics", "0", 2),
("SLCConfirmation", "0", 0),
("SLCConfirmationHigher", "0", 0),
("SLCConfirmationLower", "0", 0),
("SLCFallback", "2", 2),
("SLCLookaheadHigher", "5", 2),
("SLCLookaheadLower", "5", 2),
("SLCOverride", "1", 2),
("SLCPriority1", "Navigation", 2),
("SLCPriority2", "Map Data", 2),
("SLCPriority3", "Dashboard", 2),
("SmartTurnControl", "0", 1),
("SNGHack", "1", 2),
("SpeedLimitChangedAlert", "1", 0),
("SpeedLimitController", "1", 0),
("SpeedLimitSources", "0", 3),
("StartupMessageBottom", "Human-tested, frog-approved 🐸", 0),
("StartupMessageTop", "Hop in and buckle up!", 0),
("StandardFollow", "1.45", 2),
("StandardJerkAcceleration", "100", 3),
("StandardJerkDanger", "100", 3),
("StandardJerkDeceleration", "100", 3),
("StandardJerkSpeed", "100", 3),
("StandardJerkSpeedDecrease", "100", 3),
("StandardPersonalityProfile", "1", 2),
("StandbyMode", "0", 2),
("StaticPedalsOnUI", "0", 2),
("SteerFriction", "0", 3),
("SteerFrictionStock", "0", 3),
("SteerKP", "0", 3),
("SteerKPStock", "0", 3),
("SteerLatAccel", "0", 3),
("SteerLatAccelStock", "0", 3),
("SteerRatio", "0", 3),
("SteerRatioStock", "0", 3),
("StoppedTimer", "0", 1),
("TacoTune", "0", 2),
("ToyotaDoors", "1", 0),
("TrafficFollow", "0.5", 2),
("TrafficJerkAcceleration", "50", 3),
("TrafficJerkDanger", "100", 3),
("TrafficJerkDeceleration", "50", 3),
("TrafficJerkSpeed", "50", 3),
("TrafficJerkSpeedDecrease", "50", 3),
("TrafficPersonalityProfile", "1", 2),
("TuningInfo", "0", 3),
("TuningLevel", "0", 0),
("TuningLevelConfirmed", "0", 0),
("TurnAggressiveness", "100", 2),
("TurnDesires", "0", 2),
("UnlimitedLength", "1", 2),
("UnlockDoors", "1", 0),
("UserCurvature", "", 1),
("UseSI", "1", 3),
("UseVienna", "0", 2),
("VisionTurnControl", "1", 1),
("VoltSNG", "0", 2),
("WarningImmediateVolume", "101", 2),
("WarningSoftVolume", "101", 2),
("WheelIcon", "frog", 0),
("WheelSpeed", "0", 2)
]
misc_tuning_levels: list[tuple[str, str | bytes, int]] = [
("DeveloperMetrics", "", 3),
("DeveloperWidgets", "", 3),
("SLCPriority", "", 2),
("SLCQOL", "", 0),
("StartupAlert", "", 0)
]
class FrogPilotVariables:
def __init__(self):
self.frogpilot_toggles = get_frogpilot_toggles(block=False)
self.tuning_levels = {key: lvl for key, _, lvl in frogpilot_default_params + misc_tuning_levels}
self.short_branch = get_build_metadata().channel
self.development_branch = self.short_branch == "FrogPilot-Development"
self.release_branch = self.short_branch == "FrogPilot"
self.staging_branch = self.short_branch == "FrogPilot-Staging"
self.testing_branch = self.short_branch == "FrogPilot-Testing"
self.frogpilot_toggles.frogs_go_moo = Path("/persist/frogsgomoo.py").is_file()
self.frogpilot_toggles.block_user = self.development_branch and not self.frogpilot_toggles.frogs_go_moo
for k, v, _ in frogpilot_default_params:
params_default.put(k, v)
params_memory.put("FrogPilotTuningLevels", json.dumps(self.tuning_levels))
def update(self, holiday_theme, started):
default = params_default
level = self.tuning_levels
toggle = self.frogpilot_toggles
tuning_level = params.get_int("TuningLevel") if params.get_bool("TuningLevelConfirmed") else 3
toggle.is_metric = 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
msg_bytes = params.get("CarParams" if started else "CarParamsPersistent", block=started)
if msg_bytes:
with car.CarParams.from_bytes(msg_bytes) as CP:
always_on_lateral_set = CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
car_make = CP.carName
toggle.car_model = CP.carFingerprint
has_auto_tune = car_make in {"hyundai", "toyota"} and CP.lateralTuning.which() == "torque"
has_bsm = CP.enableBsm
has_pedal = CP.enableGasInterceptor
has_radar = not CP.radarUnavailable
is_pid_car = CP.lateralTuning.which() == "pid"
kiBP = list(CP.longitudinalTuning.kiBP)
kiV = list(CP.longitudinalTuning.kiV)
max_acceleration_enabled = CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
openpilot_longitudinal = CP.openpilotLongitudinalControl
pcm_cruise = CP.pcmCruise
stoppingDecelRate = CP.stoppingDecelRate
vEgoStopping = CP.vEgoStopping
vEgoStarting = CP.vEgoStarting
else:
always_on_lateral_set = False
car_make = "MOCK"
toggle.car_model = "MOCK"
has_auto_tune = False
has_bsm = False
has_pedal = False
has_radar = False
is_pid_car = False
kiBP = [0.]
kiV = [0.]
max_acceleration_enabled = False
openpilot_longitudinal = False
pcm_cruise = False
stoppingDecelRate = 0.8
vEgoStopping = 0.5
vEgoStarting = 0.5
msg_bytes = params.get("LiveTorqueParameters")
if msg_bytes:
with log.LiveTorqueParametersData.from_bytes(msg_bytes) as LTP:
toggle.liveValid = LTP.liveValid
else:
toggle.liveValid = False
toggle.allow_far_lead_tracking = self.testing_branch and tuning_level >= 3 and has_radar or self.frogpilot_toggles.frogs_go_moo
advanced_custom_ui = params.get_bool("AdvancedCustomUI") if tuning_level >= level["AdvancedCustomUI"] else default.get_bool("AdvancedCustomUI")
toggle.hide_alerts = advanced_custom_ui and (params.get_bool("HideAlerts") if tuning_level >= level["HideAlerts"] else default.get_bool("HideAlerts"))
toggle.hide_lead_marker = advanced_custom_ui and (params.get_bool("HideLeadMarker") if tuning_level >= level["HideLeadMarker"] else default.get_bool("HideLeadMarker"))
toggle.hide_map_icon = advanced_custom_ui and (params.get_bool("HideMapIcon") if tuning_level >= level["HideMapIcon"] else default.get_bool("HideMapIcon"))
toggle.hide_max_speed = advanced_custom_ui and (params.get_bool("HideMaxSpeed") if tuning_level >= level["HideMaxSpeed"] else default.get_bool("HideMaxSpeed"))
toggle.hide_speed = advanced_custom_ui and (params.get_bool("HideSpeed") if tuning_level >= level["HideSpeed"] else default.get_bool("HideSpeed"))
toggle.hide_speed_limit = advanced_custom_ui and (params.get_bool("HideSpeedLimit") if tuning_level >= level["HideSpeedLimit"] else default.get_bool("HideSpeedLimit"))
toggle.use_wheel_speed = advanced_custom_ui and (params.get_bool("WheelSpeed") if tuning_level >= level["WheelSpeed"] else default.get_bool("WheelSpeed"))
advanced_lateral_tuning = params.get_bool("AdvancedLateralTune") if tuning_level >= level["AdvancedLateralTune"] else default.get_bool("AdvancedLateralTune")
toggle.force_auto_tune = advanced_lateral_tuning and not has_auto_tune and not is_pid_car and (params.get_bool("ForceAutoTune") if tuning_level >= level["ForceAutoTune"] else default.get_bool("ForceAutoTune"))
toggle.force_auto_tune_off = advanced_lateral_tuning and has_auto_tune and not is_pid_car and (params.get_bool("ForceAutoTuneOff") if tuning_level >= level["ForceAutoTuneOff"] else default.get_bool("ForceAutoTuneOff"))
stock_steer_friction = params.get_float("SteerFrictionStock")
toggle.steer_friction = params.get_float("SteerFriction") if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else stock_steer_friction
toggle.use_custom_steer_friction = toggle.steer_friction != stock_steer_friction and not is_pid_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steer_kp = [[0], [params.get_float("SteerKP") if advanced_lateral_tuning and not is_pid_car and tuning_level >= level["SteerKP"] else params.get_float("SteerKPStock")]]
stock_steer_lat_accel_factor = params.get_float("SteerLatAccelStock")
toggle.steer_lat_accel_factor = params.get_float("SteerLatAccel") if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else stock_steer_lat_accel_factor
toggle.use_custom_lat_accel_factor = toggle.steer_lat_accel_factor != stock_steer_lat_accel_factor and not is_pid_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
stock_steer_ratio = params.get_float("SteerRatioStock")
toggle.steer_ratio = params.get_float("SteerRatio") if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else stock_steer_ratio
toggle.use_custom_steer_ratio = toggle.steer_ratio != stock_steer_ratio and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.alert_volume_control = params.get_bool("AlertVolumeControl") if tuning_level >= level["AlertVolumeControl"] else default.get_bool("AlertVolumeControl")
toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_control and tuning_level >= level["DisengageVolume"] else default.get_int("DisengageVolume")
toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_control and tuning_level >= level["EngageVolume"] else default.get_int("EngageVolume")
toggle.prompt_volume = params.get_int("PromptVolume") if toggle.alert_volume_control and tuning_level >= level["PromptVolume"] else default.get_int("PromptVolume")
toggle.promptDistracted_volume = params.get_int("PromptDistractedVolume") if toggle.alert_volume_control and tuning_level >= level["PromptDistractedVolume"] else default.get_int("PromptDistractedVolume")
toggle.refuse_volume = params.get_int("RefuseVolume") if toggle.alert_volume_control and tuning_level >= level["RefuseVolume"] else default.get_int("RefuseVolume")
toggle.warningSoft_volume = params.get_int("WarningSoftVolume") if toggle.alert_volume_control and tuning_level >= level["WarningSoftVolume"] else default.get_int("WarningSoftVolume")
toggle.warningImmediate_volume = max(params.get_int("WarningImmediateVolume"), 25) if toggle.alert_volume_control and tuning_level >= level["WarningImmediateVolume"] else default.get_int("WarningImmediateVolume")
toggle.always_on_lateral = params.get_bool("AlwaysOnLateral") if tuning_level >= level["AlwaysOnLateral"] else default.get_bool("AlwaysOnLateral")
toggle.always_on_lateral_set = toggle.always_on_lateral and always_on_lateral_set
toggle.always_on_lateral_lkas = toggle.always_on_lateral_set and car_make != "subaru" and (params.get_bool("AlwaysOnLateralLKAS") if tuning_level >= level["AlwaysOnLateralLKAS"] else default.get_bool("AlwaysOnLateralLKAS"))
toggle.always_on_lateral_main = toggle.always_on_lateral_set and (params.get_bool("AlwaysOnLateralMain") if tuning_level >= level["AlwaysOnLateralMain"] else default.get_bool("AlwaysOnLateralMain"))
toggle.always_on_lateral_pause_speed = params.get_int("PauseAOLOnBrake") if toggle.always_on_lateral_set and tuning_level >= level["PauseAOLOnBrake"] else default.get_int("PauseAOLOnBrake")
toggle.automatic_updates = params.get_bool("AutomaticUpdates") if tuning_level >= level["AutomaticUpdates"] else default.get_bool("AutomaticUpdates")
toggle.cluster_offset = params.get_float("ClusterOffset") if car_make == "toyota" and tuning_level >= level["ClusterOffset"] else default.get_float("ClusterOffset")
toggle.conditional_experimental_mode = openpilot_longitudinal and (params.get_bool("ConditionalExperimental") if tuning_level >= level["ConditionalExperimental"] else default.get_bool("ConditionalExperimental"))
toggle.conditional_curves = toggle.conditional_experimental_mode and (params.get_bool("CECurves") if tuning_level >= level["CECurves"] else default.get_bool("CECurves"))
toggle.conditional_curves_lead = toggle.conditional_curves and (params.get_bool("CECurvesLead") if tuning_level >= level["CECurvesLead"] else default.get_bool("CECurvesLead"))
toggle.conditional_lead = toggle.conditional_experimental_mode and (params.get_bool("CELead") if tuning_level >= level["CELead"] else default.get_bool("CELead"))
toggle.conditional_slower_lead = toggle.conditional_lead and (params.get_bool("CESlowerLead") if tuning_level >= level["CESlowerLead"] else default.get_bool("CESlowerLead"))
toggle.conditional_stopped_lead = toggle.conditional_lead and (params.get_bool("CEStoppedLead") if tuning_level >= level["CEStoppedLead"] else default.get_bool("CEStoppedLead"))
toggle.conditional_limit = params.get_int("CESpeed") * speed_conversion if toggle.conditional_experimental_mode and tuning_level >= level["CESpeed"] else default.get_int("CESpeed") * CV.MPH_TO_MS
toggle.conditional_limit_lead = params.get_int("CESpeedLead") * speed_conversion if toggle.conditional_experimental_mode and tuning_level >= level["CESpeedLead"] else default.get_int("CESpeedLead") * CV.MPH_TO_MS
toggle.conditional_navigation = toggle.conditional_experimental_mode and (params.get_bool("CENavigation") if tuning_level >= level["CENavigation"] else default.get_bool("CENavigation"))
toggle.conditional_navigation_intersections = toggle.conditional_navigation and (params.get_bool("CENavigationIntersections") if tuning_level >= level["CENavigationIntersections"] else default.get_bool("CENavigationIntersections"))
toggle.conditional_navigation_lead = toggle.conditional_navigation and (params.get_bool("CENavigationLead") if tuning_level >= level["CENavigationLead"] else default.get_bool("CENavigationLead"))
toggle.conditional_navigation_turns = toggle.conditional_navigation and (params.get_bool("CENavigationTurns") if tuning_level >= level["CENavigationTurns"] else default.get_bool("CENavigationTurns"))
toggle.conditional_model_stop_time = params.get_int("CEModelStopTime") if toggle.conditional_experimental_mode and tuning_level >= level["CEModelStopTime"] else default.get_int("CEModelStopTime")
toggle.conditional_signal = params.get_int("CESignalSpeed") if toggle.conditional_experimental_mode and tuning_level >= level["CESignalSpeed"] else default.get_int("CESignalSpeed")
toggle.conditional_signal_lane_detection = toggle.conditional_signal != 0 and (params.get_bool("CESignalLaneDetection") if tuning_level >= level["CESignalLaneDetection"] else default.get_bool("CESignalLaneDetection"))
if toggle.conditional_experimental_mode:
params.put_bool("ExperimentalMode", True)
toggle.curve_speed_controller = openpilot_longitudinal and (params.get_bool("CurveSpeedControl") if tuning_level >= level["CurveSpeedControl"] else default.get_bool("CurveSpeedControl"))
toggle.curve_sensitivity = params.get_int("CurveSensitivity") / 100 if toggle.curve_speed_controller and tuning_level >= level["CurveSensitivity"] else default.get_int("CurveSensitivity") / 100
toggle.hide_csc_ui = toggle.curve_speed_controller and (params.get_bool("HideCSCUI") if tuning_level >= level["HideCSCUI"] else default.get_bool("HideCSCUI"))
toggle.turn_aggressiveness = params.get_int("TurnAggressiveness") / 100 if toggle.curve_speed_controller and tuning_level >= level["TurnAggressiveness"] else default.get_int("TurnAggressiveness") / 100
toggle.map_turn_speed_controller = toggle.curve_speed_controller and (params.get_bool("MapTurnControl") if tuning_level >= level["MapTurnControl"] else default.get_bool("MapTurnControl"))
toggle.mtsc_curvature_check = toggle.map_turn_speed_controller and (params.get_bool("MTSCCurvatureCheck") if tuning_level >= level["MTSCCurvatureCheck"] else default.get_bool("MTSCCurvatureCheck"))
toggle.smart_turn_speed_controller = False
toggle.vision_turn_speed_controller = toggle.curve_speed_controller and (params.get_bool("VisionTurnControl") if tuning_level >= level["VisionTurnControl"] else default.get_bool("VisionTurnControl"))
toggle.custom_alerts = params.get_bool("CustomAlerts") if tuning_level >= level["CustomAlerts"] else default.get_bool("CustomAlerts")
toggle.goat_scream_alert = toggle.custom_alerts and (params.get_bool("GoatScream") if tuning_level >= level["GoatScream"] else default.get_bool("GoatScream"))
toggle.green_light_alert = toggle.custom_alerts and (params.get_bool("GreenLightAlert") if tuning_level >= level["GreenLightAlert"] else default.get_bool("GreenLightAlert"))
toggle.lead_departing_alert = toggle.custom_alerts and (params.get_bool("LeadDepartingAlert") if tuning_level >= level["LeadDepartingAlert"] else default.get_bool("LeadDepartingAlert"))
toggle.loud_blindspot_alert = has_bsm and toggle.custom_alerts and (params.get_bool("LoudBlindspotAlert") if tuning_level >= level["LoudBlindspotAlert"] else default.get_bool("LoudBlindspotAlert"))
toggle.speed_limit_changed_alert = toggle.custom_alerts and (params.get_bool("SpeedLimitChangedAlert") if tuning_level >= level["SpeedLimitChangedAlert"] else default.get_bool("SpeedLimitChangedAlert"))
toggle.custom_personalities = openpilot_longitudinal and params.get_bool("CustomPersonalities") if tuning_level >= level["CustomPersonalities"] else default.get_bool("CustomPersonalities")
aggressive_profile = toggle.custom_personalities and (params.get_bool("AggressivePersonalityProfile") if tuning_level >= level["AggressivePersonalityProfile"] else default.get_bool("AggressivePersonalityProfile"))
toggle.aggressive_jerk_acceleration = clip(params.get_int("AggressiveJerkAcceleration") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkAcceleration"] else clip(default.get_int("AggressiveJerkAcceleration") / 100, 0.01, 5)
toggle.aggressive_jerk_deceleration = clip(params.get_int("AggressiveJerkDeceleration") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkDeceleration"] else clip(default.get_int("AggressiveJerkDeceleration") / 100, 0.01, 5)
toggle.aggressive_jerk_danger = clip(params.get_int("AggressiveJerkDanger") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkDanger"] else clip(default.get_int("AggressiveJerkDanger") / 100, 0.01, 5)
toggle.aggressive_jerk_speed = clip(params.get_int("AggressiveJerkSpeed") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeed"] else clip(default.get_int("AggressiveJerkSpeed") / 100, 0.01, 5)
toggle.aggressive_jerk_speed_decrease = clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeedDecrease"] else clip(default.get_int("AggressiveJerkSpeedDecrease") / 100, 0.01, 5)
toggle.aggressive_follow = clip(params.get_float("AggressiveFollow"), 1, 5) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else clip(default.get_float("AggressiveFollow"), 1, 5)
standard_profile = toggle.custom_personalities and (params.get_bool("StandardPersonalityProfile") if tuning_level >= level["StandardPersonalityProfile"] else default.get_bool("StandardPersonalityProfile"))
toggle.standard_jerk_acceleration = clip(params.get_int("StandardJerkAcceleration") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkAcceleration"] else clip(default.get_int("StandardJerkAcceleration") / 100, 0.01, 5)
toggle.standard_jerk_deceleration = clip(params.get_int("StandardJerkDeceleration") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkDeceleration"] else clip(default.get_int("StandardJerkDeceleration") / 100, 0.01, 5)
toggle.standard_jerk_danger = clip(params.get_int("StandardJerkDanger") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkDanger"] else clip(default.get_int("StandardJerkDanger") / 100, 0.01, 5)
toggle.standard_jerk_speed = clip(params.get_int("StandardJerkSpeed") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkSpeed"] else clip(default.get_int("StandardJerkSpeed") / 100, 0.01, 5)
toggle.standard_jerk_speed_decrease = clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkSpeedDecrease"] else clip(default.get_int("StandardJerkSpeedDecrease") / 100, 0.01, 5)
toggle.standard_follow = clip(params.get_float("StandardFollow"), 1, 5) if standard_profile and tuning_level >= level["StandardFollow"] else clip(default.get_float("StandardFollow"), 1, 5)
relaxed_profile = toggle.custom_personalities and (params.get_bool("RelaxedPersonalityProfile") if tuning_level >= level["RelaxedPersonalityProfile"] else default.get_bool("RelaxedPersonalityProfile"))
toggle.relaxed_jerk_acceleration = clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkAcceleration"] else clip(default.get_int("RelaxedJerkAcceleration") / 100, 0.01, 5)
toggle.relaxed_jerk_deceleration = clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkDeceleration"] else clip(default.get_int("RelaxedJerkDeceleration") / 100, 0.01, 5)
toggle.relaxed_jerk_danger = clip(params.get_int("RelaxedJerkDanger") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkDanger"] else clip(default.get_int("RelaxedJerkDanger") / 100, 0.01, 5)
toggle.relaxed_jerk_speed = clip(params.get_int("RelaxedJerkSpeed") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeed"] else clip(default.get_int("RelaxedJerkSpeed") / 100, 0.01, 5)
toggle.relaxed_jerk_speed_decrease = clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeedDecrease"] else clip(default.get_int("RelaxedJerkSpeedDecrease") / 100, 0.01, 5)
toggle.relaxed_follow = clip(params.get_float("RelaxedFollow"), 1, 5) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else clip(default.get_float("RelaxedFollow"), 1, 5)
traffic_profile = toggle.custom_personalities and (params.get_bool("TrafficPersonalityProfile") if tuning_level >= level["TrafficPersonalityProfile"] else default.get_bool("TrafficPersonalityProfile"))
toggle.traffic_mode_jerk_acceleration = [clip(params.get_int("TrafficJerkAcceleration") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkAcceleration"] else clip(default.get_int("TrafficJerkAcceleration") / 100, 0.01, 5), toggle.aggressive_jerk_acceleration]
toggle.traffic_mode_jerk_deceleration = [clip(params.get_int("TrafficJerkDeceleration") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkDeceleration"] else clip(default.get_int("TrafficJerkDeceleration") / 100, 0.01, 5), toggle.aggressive_jerk_deceleration]
toggle.traffic_mode_jerk_danger = [clip(params.get_int("TrafficJerkDanger") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkDanger"] else clip(default.get_int("TrafficJerkDanger") / 100, 0.01, 5), toggle.aggressive_jerk_danger]
toggle.traffic_mode_jerk_speed = [clip(params.get_int("TrafficJerkSpeed") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkSpeed"] else clip(default.get_int("TrafficJerkSpeed") / 100, 0.01, 5), toggle.aggressive_jerk_speed]
toggle.traffic_mode_jerk_speed_decrease = [clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkSpeedDecrease"] else clip(default.get_int("TrafficJerkSpeedDecrease") / 100, 0.01, 5), toggle.aggressive_jerk_speed_decrease]
toggle.traffic_mode_follow = [clip(params.get_float("TrafficFollow"), 0.5, 5) if traffic_profile and tuning_level >= level["TrafficFollow"] else clip(default.get_float("TrafficFollow"), 0.5, 5), toggle.aggressive_follow]
custom_ui = params.get_bool("CustomUI") if tuning_level >= level["CustomUI"] else default.get_bool("CustomUI")
toggle.acceleration_path = custom_ui and (params.get_bool("AccelerationPath") if tuning_level >= level["AccelerationPath"] else default.get_bool("AccelerationPath"))
toggle.adjacent_paths = custom_ui and (params.get_bool("AdjacentPath") if tuning_level >= level["AdjacentPath"] else default.get_bool("AdjacentPath"))
toggle.blind_spot_path = has_bsm and custom_ui and (params.get_bool("BlindSpotPath") if tuning_level >= level["BlindSpotPath"] else default.get_bool("BlindSpotPath"))
toggle.compass = custom_ui and (params.get_bool("Compass") if tuning_level >= level["Compass"] else default.get_bool("Compass"))
toggle.pedals_on_ui = custom_ui and (params.get_bool("PedalsOnUI") if tuning_level >= level["PedalsOnUI"] else default.get_bool("PedalsOnUI"))
toggle.dynamic_pedals_on_ui = toggle.pedals_on_ui and (params.get_bool("DynamicPedalsOnUI") if tuning_level >= level["DynamicPedalsOnUI"] else default.get_bool("DynamicPedalsOnUI"))
toggle.static_pedals_on_ui = toggle.pedals_on_ui and (params.get_bool("StaticPedalsOnUI") if tuning_level >= level["StaticPedalsOnUI"] else default.get_bool("StaticPedalsOnUI"))
toggle.rotating_wheel = custom_ui and (params.get_bool("RotatingWheel") if tuning_level >= level["RotatingWheel"] else default.get_bool("RotatingWheel"))
toggle.developer_ui = params.get_bool("DeveloperUI") if tuning_level >= level["DeveloperUI"] else default.get_bool("DeveloperUI")
border_metrics = toggle.developer_ui and (params.get_bool("BorderMetrics") if tuning_level >= level["BorderMetrics"] else default.get_bool("BorderMetrics"))
toggle.blind_spot_metrics = has_bsm and border_metrics and (params.get_bool("BlindSpotMetrics") if tuning_level >= level["BlindSpotMetrics"] else default.get_bool("BlindSpotMetrics"))
toggle.signal_metrics = border_metrics and (params.get_bool("SignalMetrics") if tuning_level >= level["SignalMetrics"] else default.get_bool("SignalMetrics"))
toggle.steering_metrics = border_metrics and (params.get_bool("ShowSteering") if tuning_level >= level["ShowSteering"] else default.get_bool("ShowSteering"))
toggle.cem_status = toggle.developer_ui and toggle.conditional_experimental_mode and (params.get_bool("ShowCEMStatus") if tuning_level >= level["ShowCEMStatus"] else default.get_bool("ShowCEMStatus"))
toggle.show_fps = toggle.developer_ui and (params.get_bool("FPSCounter") if tuning_level >= level["FPSCounter"] else default.get_bool("FPSCounter"))
lateral_metrics = toggle.developer_ui and (params.get_bool("LateralMetrics") if tuning_level >= level["LateralMetrics"] else default.get_bool("LateralMetrics"))
toggle.adjacent_path_metrics = lateral_metrics and (params.get_bool("AdjacentPathMetrics") if tuning_level >= level["AdjacentPathMetrics"] else default.get_bool("AdjacentPathMetrics"))
toggle.lateral_tuning_metrics = (has_auto_tune or toggle.force_auto_tune) and lateral_metrics and (params.get_bool("TuningInfo") if tuning_level >= level["TuningInfo"] else default.get_bool("TuningInfo"))
longitudinal_metrics = toggle.developer_ui and (params.get_bool("LongitudinalMetrics") if tuning_level >= level["LongitudinalMetrics"] else default.get_bool("LongitudinalMetrics"))
toggle.adjacent_lead_tracking = has_radar and longitudinal_metrics and (params.get_bool("AdjacentLeadsUI") if tuning_level >= level["AdjacentLeadsUI"] else default.get_bool("AdjacentLeadsUI"))
toggle.lead_metrics = longitudinal_metrics and (params.get_bool("LeadInfo") if tuning_level >= level["LeadInfo"] else default.get_bool("LeadInfo"))
toggle.jerk_metrics = longitudinal_metrics and (params.get_bool("JerkInfo") if tuning_level >= level["JerkInfo"] else default.get_bool("JerkInfo"))
toggle.numerical_temp = toggle.developer_ui and (params.get_bool("NumericalTemp") if tuning_level >= level["NumericalTemp"] else default.get_bool("NumericalTemp"))
toggle.fahrenheit = toggle.numerical_temp and (params.get_bool("Fahrenheit") if tuning_level >= level["Fahrenheit"] else default.get_bool("Fahrenheit"))
toggle.sidebar_metrics = toggle.developer_ui and (params.get_bool("SidebarMetrics") if tuning_level >= level["SidebarMetrics"] else default.get_bool("SidebarMetrics"))
toggle.cpu_metrics = toggle.sidebar_metrics and (params.get_bool("ShowCPU") if tuning_level >= level["ShowCPU"] else default.get_bool("ShowCPU"))
toggle.gpu_metrics = toggle.sidebar_metrics and (params.get_bool("ShowGPU") if tuning_level >= level["ShowGPU"] else default.get_bool("ShowGPU"))
toggle.ip_metrics = toggle.sidebar_metrics and (params.get_bool("ShowIP") if tuning_level >= level["ShowIP"] else default.get_bool("ShowIP"))
toggle.memory_metrics = toggle.sidebar_metrics and (params.get_bool("ShowMemoryUsage") if tuning_level >= level["ShowMemoryUsage"] else default.get_bool("ShowMemoryUsage"))
toggle.storage_left_metrics = toggle.sidebar_metrics and (params.get_bool("ShowStorageLeft") if tuning_level >= level["ShowStorageLeft"] else default.get_bool("ShowStorageLeft"))
toggle.storage_used_metrics = toggle.sidebar_metrics and (params.get_bool("ShowStorageUsed") if tuning_level >= level["ShowStorageUsed"] else default.get_bool("ShowStorageUsed"))
toggle.use_si_metrics = toggle.developer_ui and (params.get_bool("UseSI") if tuning_level >= level["UseSI"] else default.get_bool("UseSI"))
device_management = params.get_bool("DeviceManagement") if tuning_level >= level["DeviceManagement"] else default.get_bool("DeviceManagement")
device_shutdown_setting = params.get_int("DeviceShutdown") if device_management and tuning_level >= level["DeviceShutdown"] else default.get_int("DeviceShutdown")
toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
toggle.increase_thermal_limits = device_management and (params.get_bool("IncreaseThermalLimits") if tuning_level >= level["IncreaseThermalLimits"] else default.get_bool("IncreaseThermalLimits"))
toggle.low_voltage_shutdown = clip(params.get_float("LowVoltageShutdown"), VBATT_PAUSE_CHARGING, 12.5) if device_management and tuning_level >= level["LowVoltageShutdown"] else default.get_float("LowVoltageShutdown")
toggle.no_logging = device_management and (params.get_bool("NoLogging") if tuning_level >= level["NoLogging"] else default.get_bool("NoLogging")) or self.development_branch
toggle.no_uploads = device_management and (params.get_bool("NoUploads") if tuning_level >= level["NoUploads"] else default.get_bool("NoUploads")) or self.development_branch
toggle.no_onroad_uploads = toggle.no_uploads and (params.get_bool("DisableOnroadUploads") if tuning_level >= level["DisableOnroadUploads"] else default.get_bool("DisableOnroadUploads"))
toggle.offline_mode = device_management and (params.get_bool("OfflineMode") if tuning_level >= level["OfflineMode"] else default.get_bool("OfflineMode"))
toggle.experimental_gm_tune = openpilot_longitudinal and car_make == "gm" and (params.get_bool("ExperimentalGMTune") if tuning_level >= level["ExperimentalGMTune"] else default.get_bool("ExperimentalGMTune"))
stoppingDecelRate = 0.3 if toggle.experimental_gm_tune else stoppingDecelRate
vEgoStopping = 0.15 if toggle.experimental_gm_tune else vEgoStopping
vEgoStarting = 0.15 if toggle.experimental_gm_tune else vEgoStarting
toggle.experimental_mode_via_press = openpilot_longitudinal and (params.get_bool("ExperimentalModeActivation") if tuning_level >= level["ExperimentalModeActivation"] else default.get_bool("ExperimentalModeActivation"))
toggle.experimental_mode_via_distance = toggle.experimental_mode_via_press and (params.get_bool("ExperimentalModeViaDistance") if tuning_level >= level["ExperimentalModeViaDistance"] else default.get_bool("ExperimentalModeViaDistance"))
toggle.experimental_mode_via_lkas = not toggle.always_on_lateral_lkas and toggle.experimental_mode_via_press and car_make != "subaru" and (params.get_bool("ExperimentalModeViaLKAS") if tuning_level >= level["ExperimentalModeViaLKAS"] else default.get_bool("ExperimentalModeViaLKAS"))
toggle.experimental_mode_via_tap = toggle.experimental_mode_via_press and (params.get_bool("ExperimentalModeViaTap") if tuning_level >= level["ExperimentalModeViaTap"] else default.get_bool("ExperimentalModeViaTap"))
toggle.frogsgomoo_tweak = openpilot_longitudinal and car_make == "toyota" and (params.get_bool("FrogsGoMoosTweak") if tuning_level >= level["FrogsGoMoosTweak"] else default.get_bool("FrogsGoMoosTweak"))
toggle.kiBP = [CRUISING_SPEED, CITY_SPEED_LIMIT] if toggle.frogsgomoo_tweak else kiBP
toggle.kiV = [0.5, 0.25] if toggle.frogsgomoo_tweak else kiV
toggle.stoppingDecelRate = 0.01 if toggle.frogsgomoo_tweak else stoppingDecelRate
toggle.vEgoStopping = 0.5 if toggle.frogsgomoo_tweak else vEgoStopping
toggle.vEgoStarting = 0.1 if toggle.frogsgomoo_tweak else vEgoStarting
toggle.holiday_themes = params.get_bool("HolidayThemes") if tuning_level >= level["HolidayThemes"] else default.get_bool("HolidayThemes")
toggle.current_holiday_theme = holiday_theme if toggle.holiday_themes else "stock"
lane_change_customizations = params.get_bool("LaneChangeCustomizations") if tuning_level >= level["LaneChangeCustomizations"] else default.get_bool("LaneChangeCustomizations")
toggle.lane_change_delay = params.get_float("LaneChangeTime") if lane_change_customizations and tuning_level >= level["LaneChangeTime"] else default.get_float("LaneChangeTime")
toggle.lane_detection_width = params.get_float("LaneDetectionWidth") * distance_conversion if lane_change_customizations and tuning_level >= level["LaneDetectionWidth"] else default.get_float("LaneDetectionWidth") * CV.FOOT_TO_METER
toggle.lane_detection = toggle.lane_detection_width > 0
toggle.minimum_lane_change_speed = params.get_float("MinimumLaneChangeSpeed") * speed_conversion if lane_change_customizations and tuning_level >= level["MinimumLaneChangeSpeed"] else default.get_float("MinimumLaneChangeSpeed") * CV.MPH_TO_MS
toggle.nudgeless = lane_change_customizations and (params.get_bool("NudgelessLaneChange") if tuning_level >= level["NudgelessLaneChange"] else default.get_bool("NudgelessLaneChange"))
toggle.one_lane_change = lane_change_customizations and (params.get_bool("OneLaneChange") if tuning_level >= level["OneLaneChange"] else default.get_bool("OneLaneChange"))
lateral_tuning = params.get_bool("LateralTune") if tuning_level >= level["LateralTune"] else default.get_bool("LateralTune")
toggle.nnff = lateral_tuning and (params.get_bool("NNFF") if tuning_level >= level["NNFF"] else default.get_bool("NNFF"))
toggle.nnff_lite = lateral_tuning and (params.get_bool("NNFFLite") if tuning_level >= level["NNFFLite"] else default.get_bool("NNFFLite"))
toggle.use_turn_desires = lateral_tuning and (params.get_bool("TurnDesires") if tuning_level >= level["TurnDesires"] else default.get_bool("TurnDesires"))
toggle.lock_doors_timer = default.get_int("LockDoorsTimer")
toggle.long_pitch = openpilot_longitudinal and car_make == "gm" and (params.get_bool("LongPitch") if tuning_level >= level["LongPitch"] else default.get_bool("LongPitch"))
longitudinal_tuning = openpilot_longitudinal and (params.get_bool("LongitudinalTune") if tuning_level >= level["LongitudinalTune"] else default.get_bool("LongitudinalTune"))
toggle.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tuning and tuning_level >= level["AccelerationProfile"] else default.get_int("AccelerationProfile")
toggle.sport_plus = max_acceleration_enabled and toggle.acceleration_profile == 3
toggle.deceleration_profile = params.get_int("DecelerationProfile") if longitudinal_tuning and tuning_level >= level["DecelerationProfile"] else default.get_int("DecelerationProfile")
toggle.human_acceleration = longitudinal_tuning and (params.get_bool("HumanAcceleration") if tuning_level >= level["HumanAcceleration"] else default.get_bool("HumanAcceleration"))
toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing"))
toggle.lead_detection_probability = clip(params.get_int("LeadDetectionThreshold") / 100, 0.01, 0.99) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else clip(default.get_int("LeadDetectionThreshold") / 100, 0.01, 0.99)
toggle.max_desired_acceleration = clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune"))
toggle.available_models = params.get("AvailableModels", encoding='utf-8') or ""
toggle.available_model_names = params.get("AvailableModelNames", encoding='utf-8') or ""
toggle.model_versions = params.get("ModelVersions", encoding='utf-8') or ""
downloaded_models = [model for model in toggle.available_models.split(",") if (MODELS_PATH / f"{model}.thneed").exists()]
toggle.model_randomizer = downloaded_models and (params.get_bool("ModelRandomizer") if tuning_level >= level["ModelRandomizer"] else default.get_bool("ModelRandomizer"))
if toggle.available_models and toggle.available_model_names and downloaded_models and toggle.model_versions:
if toggle.model_randomizer:
if not started:
blacklisted_models = (params.get("BlacklistedModels", encoding='utf-8') or "").split(",")
selectable_models = [model for model in downloaded_models if model not in blacklisted_models]
toggle.model = random.choice(selectable_models) if selectable_models else default.get("Model", encoding='utf-8')
toggle.model_name = "Mystery Model 👻"
toggle.model_version = toggle.model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)]
else:
toggle.model = params.get("Model", encoding='utf-8') if tuning_level >= level["Model"] else default.get("Model", encoding='utf-8')
if toggle.model in toggle.available_models.split(","):
toggle.model_name = toggle.available_model_names.split(",")[toggle.available_models.split(",").index(toggle.model)]
toggle.model_version = toggle.model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)]
else:
toggle.model = default.get("Model", encoding='utf-8')
toggle.model_name = toggle.available_model_names.split(",")[toggle.available_models.split(",").index(toggle.model)]
toggle.model_version = default.get("ModelVersion", encoding='utf-8')
else:
toggle.model = DEFAULT_CLASSIC_MODEL
toggle.model_name = DEFAULT_CLASSIC_MODEL_NAME
toggle.model_version = DEFAULT_CLASSIC_MODEL_VERSION
toggle.classic_model = toggle.model_version in {"v1", "v2", "v3", "v4"}
toggle.planner_curvature_model = toggle.model_version not in {"v1", "v2", "v3", "v4", "v5"}
toggle.radarless_model = toggle.model_version in {"v3"}
toggle.model_ui = params.get_bool("ModelUI") if tuning_level >= level["ModelUI"] else default.get_bool("ModelUI")
toggle.dynamic_path_width = toggle.model_ui and (params.get_bool("DynamicPathWidth") if tuning_level >= level["DynamicPathWidth"] else default.get_bool("DynamicPathWidth"))
toggle.lane_line_width = params.get_int("LaneLinesWidth") * small_distance_conversion / 200 if toggle.model_ui and tuning_level >= level["LaneLinesWidth"] else default.get_int("LaneLinesWidth") * CV.INCH_TO_CM / 200
toggle.path_edge_width = params.get_int("PathEdgeWidth") if toggle.model_ui and tuning_level >= level["PathEdgeWidth"] else default.get_int("PathEdgeWidth")
toggle.path_width = params.get_float("PathWidth") * distance_conversion / 2 if toggle.model_ui and tuning_level >= level["PathWidth"] else default.get_float("PathWidth") * CV.FOOT_TO_METER / 2
toggle.road_edge_width = params.get_int("RoadEdgesWidth") * small_distance_conversion / 200 if toggle.model_ui and tuning_level >= level["RoadEdgesWidth"] else default.get_int("RoadEdgesWidth") * CV.INCH_TO_CM / 200
toggle.show_stopping_point = toggle.model_ui and (params.get_bool("ShowStoppingPoint") if tuning_level >= level["ShowStoppingPoint"] else default.get_bool("ShowStoppingPoint"))
toggle.show_stopping_point_metrics = toggle.show_stopping_point and (params.get_bool("ShowStoppingPointMetrics") if tuning_level >= level["ShowStoppingPointMetrics"] else default.get_bool("ShowStoppingPointMetrics"))
toggle.unlimited_road_ui_length = toggle.model_ui and (params.get_bool("UnlimitedLength") if tuning_level >= level["UnlimitedLength"] else default.get_bool("UnlimitedLength"))
toggle.navigation_ui = params.get_bool("NavigationUI") if tuning_level >= level["NavigationUI"] else default.get_bool("NavigationUI")
toggle.big_map = toggle.navigation_ui and (params.get_bool("BigMap") if tuning_level >= level["BigMap"] else default.get_bool("BigMap"))
toggle.full_map = toggle.big_map and (params.get_bool("FullMap") if tuning_level >= level["FullMap"] else default.get_bool("FullMap"))
toggle.map_style = params.get_int("MapStyle") if toggle.navigation_ui and tuning_level >= level["MapStyle"] else default.get_int("MapStyle")
toggle.road_name_ui = toggle.navigation_ui and (params.get_bool("RoadNameUI") if tuning_level >= level["RoadNameUI"] else default.get_bool("RoadNameUI"))
toggle.show_speed_limits = toggle.navigation_ui and (params.get_bool("ShowSpeedLimits") if tuning_level >= level["ShowSpeedLimits"] else default.get_bool("ShowSpeedLimits"))
toggle.speed_limit_vienna = toggle.navigation_ui and (params.get_bool("UseVienna") if tuning_level >= level["UseVienna"] else default.get_bool("UseVienna"))
toggle.old_long_api = openpilot_longitudinal and car_make == "gm" and not (params.get_bool("NewLongAPIGM") if tuning_level >= level["NewLongAPIGM"] else default.get_bool("NewLongAPIGM"))
toggle.old_long_api |= openpilot_longitudinal and car_make == "hyundai" and not (params.get_bool("NewLongAPI") if tuning_level >= level["NewLongAPI"] else default.get_bool("NewLongAPI"))
personalize_openpilot = params.get_bool("PersonalizeOpenpilot") if tuning_level >= level["PersonalizeOpenpilot"] else default.get_bool("PersonalizeOpenpilot")
toggle.color_scheme = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomColors", encoding='utf-8') if personalize_openpilot else "stock"
toggle.distance_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomDistanceIcons", encoding='utf-8') if personalize_openpilot else "stock"
toggle.icon_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomIcons", encoding='utf-8') if personalize_openpilot else "stock"
toggle.signal_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomSignals", encoding='utf-8') if personalize_openpilot else "stock"
toggle.sound_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomSounds", encoding='utf-8') if personalize_openpilot else "stock"
toggle.wheel_image = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("WheelIcon", encoding='utf-8') if personalize_openpilot else "stock"
quality_of_life_lateral = params.get_bool("QOLLateral") if tuning_level >= level["QOLLateral"] else default.get_bool("QOLLateral")
toggle.pause_lateral_below_speed = params.get_int("PauseLateralSpeed") * speed_conversion if quality_of_life_lateral and tuning_level >= level["PauseLateralSpeed"] else default.get_int("PauseLateralSpeed") * CV.MPH_TO_MS
toggle.pause_lateral_below_signal = toggle.pause_lateral_below_speed != 0 and (params.get_bool("PauseLateralOnSignal") if tuning_level >= level["PauseLateralOnSignal"] else default.get_bool("PauseLateralOnSignal"))
quality_of_life_longitudinal = params.get_bool("QOLLongitudinal") if tuning_level >= level["QOLLongitudinal"] else default.get_bool("QOLLongitudinal")
toggle.custom_cruise_increase = params.get_int("CustomCruise") if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["CustomCruise"] else default.get_int("CustomCruise")
toggle.custom_cruise_increase_long = params.get_int("CustomCruiseLong") if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["CustomCruiseLong"] else default.get_int("CustomCruiseLong")
toggle.force_standstill = quality_of_life_longitudinal and (params.get_bool("ForceStandstill") if tuning_level >= level["ForceStandstill"] else default.get_bool("ForceStandstill"))
toggle.force_stops = quality_of_life_longitudinal and (params.get_bool("ForceStops") if tuning_level >= level["ForceStops"] else default.get_bool("ForceStops"))
toggle.increased_stopped_distance = params.get_int("IncreasedStoppedDistance") * distance_conversion if quality_of_life_longitudinal and tuning_level >= level["IncreasedStoppedDistance"] else default.get_int("IncreasedStoppedDistance") * CV.FOOT_TO_METER
map_gears = quality_of_life_longitudinal and (params.get_bool("MapGears") if tuning_level >= level["MapGears"] else default.get_bool("MapGears"))
toggle.map_acceleration = map_gears and (params.get_bool("MapAcceleration") if tuning_level >= level["MapAcceleration"] else default.get_bool("MapAcceleration"))
toggle.map_deceleration = map_gears and (params.get_bool("MapDeceleration") if tuning_level >= level["MapDeceleration"] else default.get_bool("MapDeceleration"))
toggle.reverse_cruise_increase = quality_of_life_longitudinal and pcm_cruise and (params.get_bool("ReverseCruise") if tuning_level >= level["ReverseCruise"] else default.get_bool("ReverseCruise"))
toggle.set_speed_offset = params.get_int("SetSpeedOffset") * (1 if toggle.is_metric else CV.MPH_TO_KPH) if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["SetSpeedOffset"] else default.get_int("SetSpeedOffset") * CV.MPH_TO_KPH
quality_of_life_visuals = params.get_bool("QOLVisuals") if tuning_level >= level["QOLVisuals"] else default.get_bool("QOLVisuals")
toggle.camera_view = params.get_int("CameraView") if quality_of_life_visuals and tuning_level >= level["CameraView"] else default.get_int("CameraView")
toggle.driver_camera_in_reverse = quality_of_life_visuals and (params.get_bool("DriverCamera") if tuning_level >= level["DriverCamera"] else default.get_bool("DriverCamera"))
toggle.onroad_distance_button = openpilot_longitudinal and quality_of_life_visuals and (params.get_bool("OnroadDistanceButton") if tuning_level >= level["OnroadDistanceButton"] else default.get_bool("OnroadDistanceButton"))
toggle.standby_mode = quality_of_life_visuals and (params.get_bool("StandbyMode") if tuning_level >= level["StandbyMode"] else default.get_bool("StandbyMode"))
toggle.stopped_timer = quality_of_life_visuals and (params.get_bool("StoppedTimer") if tuning_level >= level["StoppedTimer"] else default.get_bool("StoppedTimer"))
toggle.rainbow_path = params.get_bool("RainbowPath") if tuning_level >= level["RainbowPath"] else default.get_bool("RainbowPath")
toggle.random_events = params.get_bool("RandomEvents") if tuning_level >= level["RandomEvents"] else default.get_bool("RandomEvents")
screen_management = params.get_bool("ScreenManagement") if tuning_level >= level["ScreenManagement"] else default.get_bool("ScreenManagement")
toggle.screen_brightness = params.get_int("ScreenBrightness") if screen_management and tuning_level >= level["ScreenBrightness"] else default.get_int("ScreenBrightness")
toggle.screen_brightness_onroad = params.get_int("ScreenBrightnessOnroad") if screen_management and tuning_level >= level["ScreenBrightnessOnroad"] else default.get_int("ScreenBrightnessOnroad")
toggle.screen_recorder = screen_management and (params.get_bool("ScreenRecorder") if tuning_level >= level["ScreenRecorder"] else default.get_bool("ScreenRecorder"))
toggle.screen_timeout = params.get_int("ScreenTimeout") if screen_management and tuning_level >= level["ScreenTimeout"] else default.get_int("ScreenTimeout")
toggle.screen_timeout_onroad = params.get_int("ScreenTimeoutOnroad") if screen_management and tuning_level >= level["ScreenTimeoutOnroad"] else default.get_int("ScreenTimeoutOnroad")
toggle.sng_hack = openpilot_longitudinal and car_make == "toyota" and not has_pedal and (params.get_bool("SNGHack") if tuning_level >= level["SNGHack"] else default.get_bool("SNGHack"))
toggle.speed_limit_controller = openpilot_longitudinal and (params.get_bool("SpeedLimitController") if tuning_level >= level["SpeedLimitController"] else default.get_bool("SpeedLimitController"))
toggle.force_mph_dashboard = toggle.speed_limit_controller and (params.get_bool("ForceMPHDashboard") if tuning_level >= level["ForceMPHDashboard"] else default.get_bool("ForceMPHDashboard"))
toggle.map_speed_lookahead_higher = params.get_int("SLCLookaheadHigher") if toggle.speed_limit_controller and tuning_level >= level["SLCLookaheadHigher"] else default.get_int("SLCLookaheadHigher")
toggle.map_speed_lookahead_lower = params.get_int("SLCLookaheadLower") if toggle.speed_limit_controller and tuning_level >= level["SLCLookaheadLower"] else default.get_int("SLCLookaheadLower")
toggle.set_speed_limit = toggle.speed_limit_controller and (params.get_bool("SetSpeedLimit") if tuning_level >= level["SetSpeedLimit"] else default.get_bool("SetSpeedLimit"))
toggle.show_speed_limit_offset = toggle.speed_limit_controller and (params.get_bool("ShowSLCOffset") if tuning_level >= level["ShowSLCOffset"] else default.get_bool("ShowSLCOffset"))
slc_fallback_method = params.get_int("SLCFallback") if toggle.speed_limit_controller and tuning_level >= level["SLCFallback"] else default.get_int("SLCFallback")
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.speed_limit_confirmation = toggle.speed_limit_controller and (params.get_bool("SLCConfirmation") if tuning_level >= level["SLCConfirmation"] else default.get_bool("SLCConfirmation"))
toggle.speed_limit_confirmation_higher = toggle.speed_limit_confirmation and (params.get_bool("SLCConfirmationHigher") if tuning_level >= level["SLCConfirmationHigher"] else default.get_bool("SLCConfirmationHigher"))
toggle.speed_limit_confirmation_lower = toggle.speed_limit_confirmation and (params.get_bool("SLCConfirmationLower") if tuning_level >= level["SLCConfirmationLower"] else default.get_bool("SLCConfirmationLower"))
slc_override_method = params.get_int("SLCOverride") if toggle.speed_limit_controller and tuning_level >= level["SLCOverride"] else default.get_int("SLCOverride")
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 = (params.get_int("Offset1") * speed_conversion if tuning_level >= level["Offset1"] else default.get_int("Offset1") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0
toggle.speed_limit_offset2 = (params.get_int("Offset2") * speed_conversion if tuning_level >= level["Offset2"] else default.get_int("Offset2") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0
toggle.speed_limit_offset3 = (params.get_int("Offset3") * speed_conversion if tuning_level >= level["Offset3"] else default.get_int("Offset3") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0
toggle.speed_limit_offset4 = (params.get_int("Offset4") * speed_conversion if tuning_level >= level["Offset4"] else default.get_int("Offset4") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0
toggle.speed_limit_priority1 = params.get("SLCPriority1", encoding='utf-8') if toggle.speed_limit_controller and tuning_level >= level["SLCPriority1"] else default.get("SLCPriority1", encoding='utf-8')
toggle.speed_limit_priority2 = params.get("SLCPriority2", encoding='utf-8') if toggle.speed_limit_controller and tuning_level >= level["SLCPriority2"] else default.get("SLCPriority2", encoding='utf-8')
toggle.speed_limit_priority3 = params.get("SLCPriority3", encoding='utf-8') if toggle.speed_limit_controller and tuning_level >= level["SLCPriority3"] else default.get("SLCPriority3", encoding='utf-8')
toggle.speed_limit_priority_highest = toggle.speed_limit_priority1 == "Highest"
toggle.speed_limit_priority_lowest = toggle.speed_limit_priority1 == "Lowest"
toggle.speed_limit_sources = toggle.speed_limit_controller and (params.get_bool("SpeedLimitSources") if tuning_level >= level["SpeedLimitSources"] else default.get_bool("SpeedLimitSources"))
toggle.startup_alert_top = params.get("StartupMessageTop", encoding='utf-8') if tuning_level >= level["StartupMessageTop"] else default.get("StartupMessageTop", encoding='utf-8')
toggle.startup_alert_bottom = params.get("StartupMessageBottom", encoding='utf-8') if tuning_level >= level["StartupMessageBottom"] else default.get("StartupMessageBottom", encoding='utf-8')
toggle.tethering_config = params.get_int("TetheringEnabled")
toyota_doors = car_make == "toyota" and (params.get_bool("ToyotaDoors") if tuning_level >= level["ToyotaDoors"] else default.get_bool("ToyotaDoors"))
toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors"))
toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors"))
toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
params_memory.put("FrogPilotToggles", json.dumps(toggle.__dict__))
params_memory.remove("FrogPilotTogglesUpdated")
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