December 2024 Update

README.md

@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**November 24th, 2024**
+**December 1st, 2024**
 
 Features
 ------

cereal/car.capnp

@@ -84,7 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
-    startupNoSecOcKey @149;
+    startupNoSecOcKey @121;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -119,34 +119,35 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     actuatorsApiUnavailable @120;
 
     # FrogPilot Events
-    accel30 @121;
-    accel35 @122;
-    accel40 @123;
-    blockUser @124;
-    customStartupAlert @125;
-    dejaVuCurve @126;
-    firefoxSteerSaturated @127;
-    forcingStop @128;
-    goatSteerSaturated @129;
-    greenLight @130;
-    hal9000 @131;
-    holidayActive @132;
-    laneChangeBlockedLoud @133;
-    leadDeparting @134;
-    noLaneAvailable @135;
-    openpilotCrashed @136;
-    openpilotCrashedRandomEvent @137;
-    pedalInterceptorNoBrake @138;
-    speedLimitChanged @139;
-    thisIsFineSteerSaturated @140;
-    torqueNNLoad @141;
-    trafficModeActive @142;
-    trafficModeInactive @143;
-    turningLeft @144;
-    turningRight @145;
-    vCruise69 @146;
-    yourFrogTriedToKillMe @147;
-    youveGotMail @148;
+    accel30 @122;
+    accel35 @123;
+    accel40 @124;
+    blockUser @125;
+    customStartupAlert @126;
+    dejaVuCurve @127;
+    firefoxSteerSaturated @128;
+    forcingStop @129;
+    goatSteerSaturated @130;
+    greenLight @131;
+    hal9000 @132;
+    holidayActive @133;
+    laneChangeBlockedLoud @134;
+    leadDeparting @135;
+    noLaneAvailable @136;
+    openpilotCrashed @137;
+    openpilotCrashedRandomEvent @138;
+    pedalInterceptorNoBrake @139;
+    speedLimitChanged @140;
+    thisIsFineSteerSaturated @141;
+    toBeContinued @142;
+    torqueNNLoad @143;
+    trafficModeActive @144;
+    trafficModeInactive @145;
+    turningLeft @146;
+    turningRight @147;
+    vCruise69 @148;
+    yourFrogTriedToKillMe @149;
+    youveGotMail @150;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -446,17 +447,18 @@ struct CarControl {
 
       # FrogPilot sounds
       angry @9;
-      dejaVu @10;
-      doc @11;
-      fart @12;
-      firefox @13;
-      goat @14;
-      hal9000 @15;
-      mail @16;
-      nessie @17;
-      noice @18;
-      thisIsFine @19;
-      uwu @20;
+      continued @10;
+      dejaVu @11;
+      doc @12;
+      fart @13;
+      firefox @14;
+      goat @15;
+      hal9000 @16;
+      mail @17;
+      nessie @18;
+      noice @19;
+      thisIsFine @20;
+      uwu @21;
     }
   }
 

cereal/custom.capnp

@@ -49,34 +49,38 @@ struct FrogPilotNavigation @0xda96579883444c35 {
 struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerk @0 :Float32;
   accelerationJerkStock @1 :Float32;
-  adjustedCruise @2 :Float32;
-  dangerJerk @3 :Float32;
-  desiredFollowDistance @4 :Int64;
-  experimentalMode @5 :Bool;
-  forcingStop @6 :Bool;
-  forcingStopLength @7 :Float32;
-  frogpilotEvents @8 :List(Car.CarEvent);
-  lateralCheck @9 :Bool;
-  laneWidthLeft @10 :Float32;
-  laneWidthRight @11 :Float32;
-  maxAcceleration @12 :Float32;
-  minAcceleration @13 :Float32;
+  dangerJerk @2 :Float32;
+  desiredFollowDistance @3 :Int64;
+  experimentalMode @4 :Bool;
+  forcingStop @5 :Bool;
+  forcingStopLength @6 :Float32;
+  frogpilotEvents @7 :List(Car.CarEvent);
+  lateralCheck @8 :Bool;
+  laneWidthLeft @9 :Float32;
+  laneWidthRight @10 :Float32;
+  maxAcceleration @11 :Float32;
+  minAcceleration @12 :Float32;
+  mtscSpeed @13 :Float32;
   redLight @14 :Bool;
   safeObstacleDistance @15 :Int64;
   safeObstacleDistanceStock @16 :Int64;
-  slcOverridden @17 :Bool;
-  slcOverriddenSpeed @18 :Float32;
-  slcSpeedLimit @19 :Float32;
-  slcSpeedLimitOffset @20 :Float32;
-  speedJerk @21 :Float32;
-  speedJerkStock @22 :Float32;
-  speedLimitChanged @23 :Bool;
-  stoppedEquivalenceFactor @24 :Int64;
-  tFollow @25 :Float32;
-  togglesUpdated @26 :Bool;
-  unconfirmedSlcSpeedLimit @27 :Float32;
-  vCruise @28 :Float32;
-  vtscControllingCurve @29 :Bool;
+  slcMapSpeedLimit @17 :Float32;
+  slcOverridden @18 :Bool;
+  slcOverriddenSpeed @19 :Float32;
+  slcSpeedLimit @20 :Float32;
+  slcSpeedLimitOffset @21 :Float32;
+  slcSpeedLimitSource @22 :Text;
+  speedJerk @23 :Float32;
+  speedJerkStock @24 :Float32;
+  speedLimitChanged @25 :Bool;
+  stoppedEquivalenceFactor @26 :Int64;
+  tFollow @27 :Float32;
+  togglesUpdated @28 :Bool;
+  unconfirmedSlcSpeedLimit @29 :Float32;
+  upcomingSLCSpeedLimit @30 :Float32;
+  vCruise @31 :Float32;
+  vtscControllingCurve @32 :Bool;
+  vtscSpeed @33 :Float32;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {

common/params.cc

@@ -290,7 +290,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DeveloperUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DeviceManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DeviceShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"DisableCurveSpeedSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOnroadUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"DissolvedOxygenDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -344,6 +343,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HideAlerts", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideAOLStatusBar", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"HideCEMStatusBar", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"HideCSCUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"HideLeadMarker", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideMapIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideMaxSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -441,6 +441,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RadarlessModels", PERSISTENT},
     {"RadicalTurtleDrives", PERSISTENT | FROGPILOT_CONTROLS},
     {"RadicalTurtleScore", PERSISTENT | FROGPILOT_CONTROLS},
+    {"RainbowPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RandomEvents", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RecertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS},
     {"RecertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS},
@@ -499,6 +500,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SoundToDownload", PERSISTENT},
     {"SpeedLimitChangedAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"SpeedLimitController", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"SpeedLimitSources", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"StandardFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"StandardJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"StandardJerkDanger", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -537,7 +539,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UnlimitedLength", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"UnlockDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"Updated", PERSISTENT},
-    {"UpdateTheme", PERSISTENT},
     {"UpdateWheelImage", PERSISTENT},
     {"UseSI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"UseStockColors", CLEAR_ON_MANAGER_START},

panda/board/safety/safety_toyota.h

@@ -65,6 +65,10 @@ const CanMsg TOYOTA_TX_MSGS[] = {
   TOYOTA_COMMON_TX_MSGS
 };
 
+const CanMsg TOYOTA_SECOC_TX_MSGS[] = {
+  TOYOTA_COMMON_TX_MSGS
+};
+
 const CanMsg TOYOTA_LONG_TX_MSGS[] = {
   TOYOTA_COMMON_LONG_TX_MSGS
 };
@@ -109,6 +113,7 @@ const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
 const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
 const uint32_t TOYOTA_PARAM_GAS_INTERCEPTOR = 8UL << TOYOTA_PARAM_OFFSET;
 
+bool toyota_secoc = false;
 bool toyota_alt_brake = false;
 bool toyota_stock_longitudinal = false;
 bool toyota_lta = false;
@@ -292,7 +297,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       }
     }
 
-    // LTA angle steering check
+    // STEERING_LTA angle steering check
     if (addr == 0x191) {
       // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals
       bool lta_request = GET_BIT(to_send, 0U);
@@ -340,6 +345,18 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
       }
     }
 
+    // STEERING_LTA_2 angle steering check (SecOC)
+    if (toyota_secoc && (addr == 0x131)) {
+      // SecOC cars block any form of LTA actuation for now
+      bool lta_request = GET_BIT(to_send, 3U);  // STEERING_LTA_2.STEER_REQUEST
+      bool lta_request2 = GET_BIT(to_send, 0U);  // STEERING_LTA_2.STEER_REQUEST_2
+      int lta_angle_msb = GET_BYTE(to_send, 2);  // STEERING_LTA_2.STEER_ANGLE_CMD (MSB)
+      int lta_angle_lsb = GET_BYTE(to_send, 3);  // STEERING_LTA_2.STEER_ANGLE_CMD (LSB)
+      bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0);
+      if (actuation) {
+        tx = false;
+      }
+    }
     // STEER: safety check on bytes 2-3
     if (addr == 0x2E4) {
       int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
@@ -373,6 +390,11 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
 }
 
 static safety_config toyota_init(uint16_t param) {
+#ifdef ALLOW_DEBUG
+  const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
+  toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC);
+#endif
+
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
@@ -386,7 +408,11 @@ static safety_config toyota_init(uint16_t param) {
 
   safety_config ret;
   if (toyota_stock_longitudinal) {
-    SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
+    if (toyota_secoc) {
+      SET_TX_MSGS(TOYOTA_SECOC_TX_MSGS, ret);
+    } else {
+      SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
+    }
   } else {
     enable_gas_interceptor ? SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS, ret) : \
                              SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
@@ -414,6 +440,8 @@ static int toyota_fwd_hook(int bus_num, int addr) {
     // block stock lkas messages and stock acc messages (if OP is doing ACC)
     // in TSS2, 0x191 is LTA which we need to block to avoid controls collision
     bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
+    // on SecOC cars 0x131 is also LTA
+    is_lkas_msg |= toyota_secoc && (addr == 0x131);
     // in TSS2 the camera does ACC as well, so filter 0x343
     bool is_acc_msg = (addr == 0x343);
     bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);

selfdrive/car/card.py

@@ -95,13 +95,13 @@ def __init__(self, CI=None):
     # FrogPilot variables
     self.frogpilot_toggles = get_frogpilot_toggles()
 
+    if self.frogpilot_toggles.acceleration_profile == 3:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
+
     if self.frogpilot_toggles.always_on_lateral:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    if self.frogpilot_toggles.acceleration_profile == 3:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
-
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)

selfdrive/car/hyundai/carstate.py

@@ -65,8 +65,8 @@ def calculate_speed_limit(self, cp, cp_cam):
       return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
     else:
       speed_limit_nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] if self.CP.flags & HyundaiFlags.NAV_MSG else 0
-      speed_limit_cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] if self.CP.flags & HyundaiFlags.LKAS12 else 0
-      return speed_limit_cam if speed_limit_cam not in (0, 255) else speed_limit_nav
+      speed_limit_cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] if self.CP.flags & HyundaiFlags.LKAS12 else None
+      return speed_limit_cam if speed_limit_cam is not None and speed_limit_cam not in (0, 255) else speed_limit_nav
 
   def update(self, cp, cp_cam, frogpilot_toggles):
     if self.CP.carFingerprint in CANFD_CAR:

selfdrive/car/subaru/interface.py

@@ -5,7 +5,7 @@
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
 
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     # FrogPilot variables
-    crosstrek_torque_increase = params.get_bool("CrosstrekTorque")
+    crosstrek_torque_increase = get_frogpilot_toggles().crosstrek_torque
 
     ret.carName = "subaru"
     ret.radarUnavailable = True

selfdrive/car/subaru/values.py

@@ -7,7 +7,7 @@
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
 
 Ecu = car.CarParams.Ecu
 
@@ -27,7 +27,7 @@ def __init__(self, CP):
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_MAX = 1439
-    elif CP.carFingerprint == CAR.SUBARU_IMPREZA and params.get_bool("CrosstrekTorque"):
+    elif CP.carFingerprint == CAR.SUBARU_IMPREZA and get_frogpilot_toggles().crosstrek_torque:
       self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047

selfdrive/controls/lib/events.py

@@ -1210,6 +1210,14 @@ def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
       Priority.HIGHEST, VisualAlert.none, AudibleAlert.fart, 10.),
   },
 
+  EventName.toBeContinued: {
+    ET.PERMANENT: Alert(
+      "To be continued...",
+      "⬅️",
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.MID, VisualAlert.none, AudibleAlert.continued, 7.),
+  },
+
   EventName.vCruise69: {
     ET.PERMANENT: Alert(
       "Lol 69",