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onepilot/frogpilot/common/frogpilot_variables.py
T
James f549233611 FrogPilot variables
2026-02-13 00:21:29 -07:00

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#!/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")
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