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onepilot/frogpilot/common/frogpilot_variables.py
T
James 518da86590 Konik.ai server support 
Co-Authored-By: MoreTorque <104254025+moretore@users.noreply.github.com>
2026-02-13 00:21:36 -07:00

699 lines
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Python
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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.hyundai.values import HyundaiFlags
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.controls.lib.latcontrol_torque import KP
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")
FROGS_GO_MOO_PATH = Path("/persist/frogsgomoo.py")
HD_LOGS_PATH = Path("/data/media/0/realdata_HD")
HD_PATH = Path("/cache/use_HD")
KONIK_LOGS_PATH = Path("/data/media/0/realdata_konik")
KONIK_PATH = Path("/cache/use_konik")
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
}
DEVELOPER_SIDEBAR_METRICS = {
"NONE": 0,
"ACCELERATION_CURRENT": 1,
"ACCELERATION_MAX": 2,
"AUTOTUNE_ACTUATOR_DELAY": 3,
"AUTOTUNE_FRICTION": 4,
"AUTOTUNE_LATERAL_ACCELERATION": 5,
"AUTOTUNE_STEER_RATIO": 6,
"AUTOTUNE_STIFFNESS_FACTOR": 7,
"ENGAGEMENT_LATERAL": 8,
"ENGAGEMENT_LONGITUDINAL": 9,
"LATERAL_STEERING_ANGLE": 10,
"LATERAL_TORQUE_USED": 11,
"LONGITUDINAL_ACTUATOR_ACCELERATION": 12,
"LONGITUDINAL_MPC_JERK_ACCELERATION": 13,
"LONGITUDINAL_MPC_JERK_DANGER_ZONE": 14,
"LONGITUDINAL_MPC_JERK_SPEED_CONTROL": 15,
}
DEVICE_SHUTDOWN_TIMES = {
0: 300, # 5 mins
1: 900, # 15 mins
2: 1800, # 30 mins
3: 2700, # 45 mins
4: 3600, # 1 hour
5: 7200, # 2 hours
6: 10800, # 3 hours
7: 14400, # 4 hours
8: 18000, # 5 hours
9: 21600, # 6 hours
10: 25200, # 7 hours
11: 28800, # 8 hours
12: 32400, # 9 hours
13: 36000, # 10 hours
14: 39600, # 11 hours
15: 43200, # 12 hours
16: 46800, # 13 hours
17: 50400, # 14 hours
18: 54000, # 15 hours
19: 57600, # 16 hours
20: 61200, # 17 hours
21: 64800, # 18 hours
22: 68400, # 19 hours
23: 72000, # 20 hours
24: 75600, # 21 hours
25: 79200, # 22 hours
26: 82800, # 23 hours
27: 86400, # 24 hours
28: 90000, # 25 hours
29: 93600, # 26 hours
30: 97200, # 27 hours
31: 100800, # 28 hours
32: 104400, # 29 hours
33: 108000, # 30 hours
}
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.frogs_go_moo = FROGS_GO_MOO_PATH.is_file()
toggle.block_user = (self.development_branch or branch == "MAKE-PRS-HERE" or self.vetting_branch) and not self.frogs_go_moo
self.tuning_level = self.params.get("TuningLevel") if self.params.get_bool("TuningLevelConfirmed") else TUNING_LEVELS["ADVANCED"]
device_management = self.get_value("DeviceManagement")
toggle.use_higher_bitrate = device_management
toggle.use_higher_bitrate &= self.get_value("HigherBitrate")
toggle.use_higher_bitrate &= self.get_value("NoUploads")
toggle.use_higher_bitrate &= not self.get_value("DisableOnroadUploads")
toggle.use_higher_bitrate &= not self.vetting_branch
toggle.use_higher_bitrate |= self.development_branch
if not HD_PATH.is_file() and toggle.use_higher_bitrate:
HD_PATH.touch()
HARDWARE.reboot()
elif HD_PATH.is_file() and not toggle.use_higher_bitrate:
HD_PATH.unlink()
HARDWARE.reboot()
toggle.use_konik_server = device_management
toggle.use_konik_server &= self.get_value("UseKonikServer")
toggle.use_konik_server |= Path("/data/openpilot/not_vetted").is_file()
if not KONIK_PATH.is_file() and toggle.use_konik_server:
KONIK_PATH.touch()
HARDWARE.reboot()
elif KONIK_PATH.is_file() and not toggle.use_konik_server:
KONIK_PATH.unlink()
HARDWARE.reboot()
stock_colors_json = (STOCK_THEME_PATH / "colors/colors.json")
self.stock_colors = json.loads(stock_colors_json.read_text()) if stock_colors_json.is_file() else {}
self.update()
def get_color(self, key, theme_colors):
for source in (theme_colors, self.stock_colors):
color = source.get(key)
if isinstance(color, dict):
return f"#{color.get("alpha", 255):02X}{color.get("red", 255):02X}{color.get("green", 255):02X}{color.get("blue", 255):02X}"
return "#FFFFFFFF"
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, holiday_theme="stock", 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)
alpha_longitudinal = CP.alphaLongitudinalAvailable
toggle.car_make = CP.brand
toggle.car_model = CP.carFingerprint
toggle.disable_openpilot_long = self.get_value("DisableOpenpilotLongitudinal", condition=not alpha_longitudinal)
friction = CP.lateralTuning.torque.friction
has_bsm = CP.enableBsm
toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
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)
is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
latAccelFactor = CP.lateralTuning.torque.latAccelFactor
toggle.lkas_allowed_for_aol = toggle.car_make == "hyundai" and bool(CP.flags & HyundaiFlags.CANFD or CP.flags & HyundaiFlags.HAS_LDA_BUTTON)
longitudinalActuatorDelay = CP.longitudinalActuatorDelay
toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
pcm_cruise = CP.pcmCruise
prohibited_main_aol = not toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and bool(CP.flags & HyundaiFlags.CANFD or CP.flags & HyundaiFlags.HAS_LDA_BUTTON)
startAccel = CP.startAccel
stopAccel = CP.stopAccel
steerActuatorDelay = CP.steerActuatorDelay
steerKp = KP
steerRatio = CP.steerRatio
toggle.stoppingDecelRate = CP.stoppingDecelRate
toggle.vEgoStarting = CP.vEgoStarting
toggle.vEgoStopping = CP.vEgoStopping
msg_bytes = self.params.get("LiveTorqueParameters")
if msg_bytes:
LTP = messaging.log_from_bytes(msg_bytes, log.LiveTorqueParametersData)
has_auto_tune = LTP.useParams
toggle.liveValid = LTP.liveValid
else:
has_auto_tune = False
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
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 and not toggle.debug_mode)
toggle.hide_lead_marker = self.get_value("HideLeadMarker", condition=advanced_custom_ui and toggle.openpilot_longitudinal and not toggle.debug_mode)
toggle.hide_max_speed = self.get_value("HideMaxSpeed", condition=advanced_custom_ui and not toggle.debug_mode)
toggle.hide_speed = self.get_value("HideSpeed", condition=advanced_custom_ui and not toggle.debug_mode)
toggle.hide_speed_limit = self.get_value("HideSpeedLimit", condition=advanced_custom_ui and not toggle.debug_mode)
toggle.use_wheel_speed = self.get_value("WheelSpeed", condition=advanced_custom_ui)
advanced_lateral_tuning = self.get_value("AdvancedLateralTune")
toggle.force_auto_tune = self.get_value("ForceAutoTune", condition=advanced_lateral_tuning and not has_auto_tune and is_torque_car and not is_angle_car)
toggle.force_auto_tune_off = self.get_value("ForceAutoTuneOff", condition=advanced_lateral_tuning and has_auto_tune and is_torque_car and not is_angle_car)
toggle.steerActuatorDelay = self.get_value("SteerDelay", cast=float, condition=advanced_lateral_tuning, default=steerActuatorDelay, min=0.01, max=1.0)
toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
toggle.friction = self.get_value("SteerFriction", cast=float, condition=advanced_lateral_tuning, default=friction, min=0, max=1)
toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steerKp = [[0], [self.get_value("SteerKP", cast=float, condition=advanced_lateral_tuning and is_torque_car and not is_angle_car, default=steerKp, min=steerKp * 0.5, max=steerKp * 1.5)]]
toggle.latAccelFactor = self.get_value("SteerLatAccel", cast=float, condition=advanced_lateral_tuning, default=latAccelFactor, min=latAccelFactor * 0.5, max=latAccelFactor * 1.5)
toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steerRatio = self.get_value("SteerRatio", cast=float, condition=advanced_lateral_tuning, default=steerRatio, min=steerRatio * 0.5, max=steerRatio * 1.5)
toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
advanced_longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("AdvancedLongitudinalTune")
toggle.longitudinalActuatorDelay = self.get_value("LongitudinalActuatorDelay", cast=float, condition=advanced_longitudinal_tuning, default=longitudinalActuatorDelay, min=0, max=1)
toggle.startAccel = self.get_value("StartAccel", cast=float, condition=advanced_longitudinal_tuning, default=startAccel, min=0, max=MAX_ACCELERATION)
toggle.stopAccel = self.get_value("StopAccel", cast=float, condition=advanced_longitudinal_tuning, default=stopAccel, min=-MAX_ACCELERATION, max=0)
toggle.stoppingDecelRate = self.get_value("StoppingDecelRate", cast=float, condition=advanced_longitudinal_tuning, default=toggle.stoppingDecelRate, min=0.001, max=1)
toggle.vEgoStarting = self.get_value("VEgoStarting", cast=float, condition=advanced_longitudinal_tuning, default=toggle.vEgoStarting, min=0.01, max=1)
toggle.vEgoStopping = self.get_value("VEgoStopping", cast=float, condition=advanced_longitudinal_tuning, default=toggle.vEgoStopping, min=0.01, max=1)
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.always_on_lateral = self.get_value("AlwaysOnLateral")
toggle.always_on_lateral_lkas = toggle.always_on_lateral and toggle.lkas_allowed_for_aol and self.get_value("AlwaysOnLateralLKAS")
toggle.always_on_lateral_main = toggle.always_on_lateral and not prohibited_main_aol and not toggle.always_on_lateral_lkas
toggle.always_on_lateral_pause_speed = self.get_value("PauseAOLOnBrake", cast=float, condition=toggle.always_on_lateral)
toggle.automatic_updates = self.get_value("AutomaticUpdates", condition=(self.release_branch or self.vetting_branch or self.frogs_go_moo), 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) or toggle.debug_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) or toggle.debug_mode
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_themes = self.get_value("CustomThemes")
toggle.color_scheme = self.get_value("ColorScheme", cast=None, condition=custom_themes, default="stock")
theme_colors = json.loads(THEME_COLORS_PATH.read_text()) if THEME_COLORS_PATH.is_file() else {}
toggle.lane_lines_color = self.get_color("LaneLines", theme_colors)
toggle.lead_marker_color = self.get_color("LeadMarker", theme_colors)
toggle.path_color = self.get_color("Path", theme_colors)
toggle.path_edges_color = self.get_color("PathEdge", theme_colors)
toggle.sidebar_color1 = self.get_color("Sidebar1", theme_colors)
toggle.sidebar_color2 = self.get_color("Sidebar2", theme_colors)
toggle.sidebar_color3 = self.get_color("Sidebar3", theme_colors)
toggle.distance_icons = self.get_value("DistanceIconPack", cast=None, condition=custom_themes, default="stock")
toggle.icon_pack = self.get_value("IconPack", cast=None, condition=custom_themes, default="stock")
toggle.signal_icons = self.get_value("SignalAnimation", cast=None, condition=custom_themes, default="stock")
toggle.sound_pack = self.get_value("SoundPack", cast=None, condition=custom_themes, default="stock")
toggle.wheel_image = self.get_value("WheelIcon", cast=None, condition=custom_themes, default="stock")
custom_ui = self.get_value("CustomUI")
toggle.acceleration_path = toggle.openpilot_longitudinal and (self.get_value("AccelerationPath", condition=custom_ui) or toggle.debug_mode)
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) or toggle.debug_mode
toggle.steering_metrics = self.get_value("ShowSteering", condition=border_metrics) or toggle.debug_mode
toggle.show_fps = self.get_value("FPSCounter", condition=developer_metrics) or toggle.debug_mode
toggle.adjacent_path_metrics = self.get_value("AdjacentPathMetrics", condition=developer_metrics) or toggle.debug_mode
toggle.lead_info = self.get_value("LeadInfo", condition=developer_metrics) or toggle.debug_mode
toggle.numerical_temp = self.get_value("NumericalTemp", condition=developer_metrics) or toggle.debug_mode
toggle.fahrenheit = self.get_value("Fahrenheit", condition=toggle.numerical_temp and not toggle.debug_mode)
toggle.cpu_metrics = self.get_value("ShowCPU", condition=developer_metrics) or toggle.debug_mode
toggle.gpu_metrics = self.get_value("ShowGPU", condition=developer_metrics and not toggle.debug_mode)
toggle.ip_metrics = self.get_value("ShowIP", condition=developer_metrics)
toggle.memory_metrics = self.get_value("ShowMemoryUsage", condition=developer_metrics) or toggle.debug_mode
toggle.storage_left_metrics = self.get_value("ShowStorageLeft", condition=developer_metrics and not toggle.debug_mode)
toggle.storage_used_metrics = self.get_value("ShowStorageUsed", condition=developer_metrics and not toggle.debug_mode)
toggle.use_si_metrics = self.get_value("UseSI", condition=developer_metrics) or toggle.debug_mode
toggle.developer_sidebar = self.get_value("DeveloperSidebar", condition=toggle.developer_ui) or toggle.debug_mode
toggle.developer_sidebar_metric1 = self.get_value("DeveloperSidebarMetric1", cast=None, condition=toggle.developer_sidebar, default=DEVELOPER_SIDEBAR_METRICS["LONGITUDINAL_ACTUATOR_ACCELERATION"] if toggle.debug_mode else None)
toggle.developer_sidebar_metric2 = self.get_value("DeveloperSidebarMetric2", cast=None, condition=toggle.developer_sidebar, default=DEVELOPER_SIDEBAR_METRICS["ACCELERATION_CURRENT"] if toggle.debug_mode else None)
toggle.developer_sidebar_metric3 = self.get_value("DeveloperSidebarMetric3", cast=None, condition=toggle.developer_sidebar, default=DEVELOPER_SIDEBAR_METRICS["LATERAL_STEERING_ANGLE"] if toggle.debug_mode else None)
toggle.developer_sidebar_metric4 = self.get_value("DeveloperSidebarMetric4", cast=None, condition=toggle.developer_sidebar, default=DEVELOPER_SIDEBAR_METRICS["LATERAL_TORQUE_USED"] if toggle.debug_mode else None)
toggle.developer_sidebar_metric5 = self.get_value("DeveloperSidebarMetric5", cast=None, condition=toggle.developer_sidebar, default=DEVELOPER_SIDEBAR_METRICS["LONGITUDINAL_MPC_JERK_ACCELERATION"] if toggle.debug_mode else None)
toggle.developer_sidebar_metric6 = self.get_value("DeveloperSidebarMetric6", cast=None, condition=toggle.developer_sidebar, default=DEVELOPER_SIDEBAR_METRICS["LONGITUDINAL_MPC_JERK_DANGER_ZONE"] if toggle.debug_mode else None)
toggle.developer_sidebar_metric7 = self.get_value("DeveloperSidebarMetric7", cast=None, condition=toggle.developer_sidebar, default=DEVELOPER_SIDEBAR_METRICS["LONGITUDINAL_MPC_JERK_SPEED_CONTROL"] if toggle.debug_mode else None)
developer_widgets = self.get_value("DeveloperWidgets", condition=toggle.developer_ui)
toggle.adjacent_lead_tracking = has_radar and (self.get_value("AdjacentLeadsUI", condition=developer_widgets) or toggle.debug_mode)
toggle.radar_tracks = has_radar and (self.get_value("RadarTracksUI", condition=developer_widgets) or toggle.debug_mode)
toggle.show_stopping_point = toggle.openpilot_longitudinal and (self.get_value("ShowStoppingPoint", condition=developer_widgets) or toggle.debug_mode)
toggle.show_stopping_point_metrics = self.get_value("ShowStoppingPointMetrics", condition=toggle.show_stopping_point) or toggle.debug_mode
device_management = self.get_value("DeviceManagement")
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) 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)
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.frogsgomoo_tweak = self.get_value("FrogsGoMoosTweak", condition=toggle.openpilot_longitudinal and toggle.car_make == "toyota")
toggle.stoppingDecelRate = 0.01 if toggle.frogsgomoo_tweak else toggle.stoppingDecelRate
toggle.vEgoStarting = 0.1 if toggle.frogsgomoo_tweak else toggle.vEgoStarting
toggle.vEgoStopping = 0.5 if toggle.frogsgomoo_tweak else toggle.vEgoStopping
toggle.holiday_themes = self.get_value("HolidayThemes")
toggle.current_holiday_theme = holiday_theme if toggle.holiday_themes else "stock"
if toggle.current_holiday_theme != "stock":
toggle.color_scheme = toggle.current_holiday_theme
toggle.distance_icons = toggle.current_holiday_theme
toggle.icon_pack = toggle.current_holiday_theme
toggle.signal_icons = toggle.current_holiday_theme
toggle.sound_pack = toggle.current_holiday_theme
toggle.wheel_image = toggle.current_holiday_theme
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.force_torque_controller = self.get_value("ForceTorqueController", condition=lateral_tuning and not is_torque_car and not is_angle_car)
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 and not toggle.debug_mode)
toggle.lane_line_width = self.get_value("LaneLinesWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode, conversion=small_distance_conversion / 200)
toggle.path_edge_width = self.get_value("PathEdgeWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode)
toggle.path_width = self.get_value("PathWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode, conversion=distance_conversion / 2)
toggle.road_edge_width = self.get_value("RoadEdgesWidth", cast=float, condition=toggle.model_ui and not toggle.debug_mode, conversion=small_distance_conversion / 200)
navigation_ui = self.get_value("NavigationUI")
toggle.road_name_ui = self.get_value("RoadNameUI", condition=navigation_ui) or toggle.debug_mode
toggle.show_speed_limits = self.get_value("ShowSpeedLimits", condition=navigation_ui) or toggle.debug_mode
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 and not toggle.debug_mode)
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) or toggle.debug_mode)
toggle.stopped_timer = self.get_value("StoppedTimer", condition=quality_of_life_visuals)
toggle.rainbow_path = self.get_value("RainbowPath", condition=not toggle.debug_mode)
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 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)
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) or toggle.debug_mode
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) or toggle.debug_mode
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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