Force Drive State

frogpilot/common/frogpilot_variables.py

@@ -306,6 +306,8 @@ class FrogPilotVariables:
       toggle.liveValid = False
 
     toggle.debug_mode = self.params.get_bool("DebugMode")
+    toggle.force_offroad = self.params.get_bool("ForceOffroad")
+    toggle.force_onroad = self.params.get_bool("ForceOnroad")
 
     toggle.is_metric = self.params.get_bool("IsMetric")
     distance_conversion = 1 if toggle.is_metric else CV.FOOT_TO_METER
@@ -475,7 +477,7 @@ class FrogPilotVariables:
     toggle.device_shutdown_time = DEVICE_SHUTDOWN_TIMES.get(self.get_value("DeviceShutdown", cast=int, condition=device_management))
     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_logging = self.get_value("NoLogging", condition=device_management and not self.vetting_branch) or toggle.force_onroad
     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)
 
@@ -592,7 +594,7 @@ class FrogPilotVariables:
 
     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_brightness_onroad = self.get_value("ScreenBrightnessOnroad", cast=float, condition=(screen_management and not toggle.force_onroad))
     toggle.screen_recorder = self.get_value("ScreenRecorder", condition=screen_management) or toggle.debug_mode
     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)

frogpilot/ui/qt/offroad/utilities.cc

@@ -40,6 +40,34 @@ FrogPilotUtilitiesPanel::FrogPilotUtilitiesPanel(FrogPilotSettingsWindow *parent
   }
   addItem(flashPandaButton);
 
+  FrogPilotButtonsControl *forceStartedButton = new FrogPilotButtonsControl(tr("Force Drive State"), tr("<b>Force openpilot to be offroad or onroad.</b>"), "", {tr("OFFROAD"), tr("ONROAD"), tr("OFF")}, true);
+  QObject::connect(forceStartedButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
+    if (id == 0) {
+      params.putBool("ForceOffroad", true);
+      params.putBool("ForceOnroad", false);
+
+      updateFrogPilotToggles();
+    } else if (id == 1) {
+      params.put("CarParams", params.get("CarParamsPersistent"));
+      params.put("FrogPilotCarParams", params.get("FrogPilotCarParamsPersistent"));
+
+      params.putBool("ForceOffroad", false);
+      params.putBool("ForceOnroad", true);
+
+      updateFrogPilotToggles();
+    } else if (id == 2) {
+      params.putBool("ForceOffroad", false);
+      params.putBool("ForceOnroad", false);
+
+      updateFrogPilotToggles();
+    }
+  });
+  forceStartedButton->setCheckedButton(2);
+  if (forceOpenDescriptions) {
+    forceStartedButton->showDescription();
+  }
+  addItem(forceStartedButton);
+
   ButtonControl *resetTogglesButton = new ButtonControl(tr("Reset Toggles to Default"), tr("RESET"), tr("<b>Reset all toggles to their default values.</b>"));
   QObject::connect(resetTogglesButton, &ButtonControl::clicked, [parent, resetTogglesButton, this]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all toggles to their default values?"), tr("Reset"), this)) {

selfdrive/selfdrived/selfdrived.py

@@ -344,7 +344,7 @@ class SelfdriveD:
       self.events.add(EventName.usbError)
     if CS.canTimeout:
       self.events.add(EventName.canBusMissing)
-    elif not CS.canValid:
+    elif not CS.canValid and not self.frogpilot_toggles.force_onroad:
       self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead

selfdrive/ui/qt/onroad/alerts.cc

@@ -51,7 +51,7 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, const SubMaster
     }
   }
 
-  if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
+  if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ && !frogpilot_toggles.value("force_onroad").toBool()) {
     const int SELFDRIVE_STATE_TIMEOUT = 5;
     const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
 

selfdrive/ui/ui.cc

@@ -77,6 +77,8 @@ static void update_state(UIState *s, FrogPilotUIState *fs) {
   if (scene.started) {
     frogpilot_scene.started_timer += 1;
   }
+  scene.started |= frogpilot_scene.frogpilot_toggles.value("force_onroad").toBool();
+  scene.started &= !frogpilot_scene.frogpilot_toggles.value("force_offroad").toBool();
 }
 
 void ui_update_params(UIState *s) {

system/hardware/hardwared.py

@@ -352,6 +352,8 @@ def hardware_thread(end_event, hw_queue) -> None:
       should_start = should_start and all(startup_conditions.values())
 
     # FrogPilot variables
+    should_start |= frogpilot_toggles.force_onroad
+    should_start &= not frogpilot_toggles.force_offroad
 
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsEngaged", False)

system/manager/manager.py

@@ -155,7 +155,7 @@ def manager_thread() -> None:
 
     started = sm['deviceState'].started
 
-    if started and not started_prev:
+    if started and not started_prev and not frogpilot_toggles.force_onroad:
       params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
 
       # FrogPilot variables