FrogPilot setup - Python imports

selfdrive/car/chrysler/interface.py

@@ -6,6 +6,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/car/ford/interface.py

@@ -9,6 +9,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/car/gm/interface.py

@@ -19,6 +19,7 @@ TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 PEDAL_MSG = 0x201
 CAM_MSG = 0x320  # AEBCmd

selfdrive/car/honda/interface.py

@@ -17,6 +17,7 @@ TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/car/hyundai/interface.py

@@ -15,6 +15,7 @@ EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/car/interfaces.py

@@ -15,7 +15,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS, V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 

selfdrive/car/mazda/interface.py

@@ -7,6 +7,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
 

selfdrive/car/nissan/interface.py

@@ -5,6 +5,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/car/subaru/interface.py

@@ -1,10 +1,11 @@
 from cereal import car, custom
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
 
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
 

selfdrive/car/toyota/interface.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 SteerControlType = car.CarParams.SteerControlType
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/controls/controlsd.py

@@ -32,6 +32,9 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_short_branch
 
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import MovingAverageCalculator
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CRUISING_SPEED, PROBABILITY
+
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
@@ -50,7 +53,9 @@ LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
 EventName = car.CarEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
+GearShifter = car.CarState.GearShifter
 SafetyModel = car.CarParams.SafetyModel
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -17,6 +17,8 @@ else:
 
 from casadi import SX, vertcat
 
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT
+
 MODEL_NAME = 'long'
 LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -14,7 +14,8 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHA
                                                                            get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, Lead, get_max_accel
 
-from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CITY_SPEED_LIMIT, CRUISING_SPEED, calculate_lane_width, calculate_road_curvature
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import calculate_lane_width, calculate_road_curvature
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
 
 GearShifter = car.CarState.GearShifter
 

selfdrive/frogpilot/controls/lib/frogpilot_functions.py

@@ -13,10 +13,7 @@ from openpilot.common.params_pyx import UnknownKeyName
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_short_branch, get_commit_date
 
-CITY_SPEED_LIMIT = 25  # 55mph is typically the minimum speed for highways
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import PROBABILITY, THRESHOLD
-CRUISING_SPEED = 5     # Roughly the speed cars go when not touching the gas while in drive
-PROBABILITY = 0.6      # 60% chance of condition being true
-THRESHOLD = 5          # Time threshold (0.25s)
 
 def calculate_lane_width(lane, current_lane, road_edge):
   lane_x, lane_y = np.array(lane.x), np.array(lane.y)
@@ -37,6 +34,7 @@ def calculate_road_curvature(modelData, v_ego):
   max_pred_lat_acc = np.amax(orientation_rate * velocity)
   return max_pred_lat_acc / (v_ego**2)
 
+
 class MovingAverageCalculator:
   def __init__(self):
     self.data = []

selfdrive/manager/manager.py

@@ -4,6 +4,8 @@ import os
 import signal
 import subprocess
 import sys
+import threading
+import time
 import traceback
 
 from cereal import log
@@ -11,6 +13,7 @@ import cereal.messaging as messaging
 import openpilot.selfdrive.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
+from openpilot.common.time import system_time_valid
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.selfdrive.manager.process import ensure_running

selfdrive/ui/soundd.py

@@ -1,5 +1,6 @@
 import math
 import numpy as np
+import os
 import time
 import wave