November 10th, 2024 Patch

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 1st, 2024**
+**November 10th, 2024**
 
 Features
 ------

selfdrive/car/card.py

@@ -49,11 +49,17 @@ def __init__(self, CI=None):
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       disable_openpilot_long = self.params.get_bool("DisableOpenpilotLongitudinal")
-      experimental_long_allowed = not disable_openpilot_long and self.params.get_bool("ExperimentalLongitudinalEnabled")
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], disable_openpilot_long, experimental_long_allowed, self.params, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 
+    # set alternative experiences from parameters
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.CP.alternativeExperience = 0
+    if not self.disengage_on_accelerator:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -77,16 +83,11 @@ def __init__(self, CI=None):
     # FrogPilot variables
     self.frogpilot_toggles = get_frogpilot_toggles(True)
 
-    # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
-    self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
     if self.params.get_bool("AlwaysOnLateral"):
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    if self.params.get_int("AccelerationProfile") == 3:
+    if self.frogpilot_toggles.acceleration_profile == 3:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
 
     # Write CarParams for controls and radard

selfdrive/controls/controlsd.py

@@ -32,7 +32,7 @@
 from openpilot.system.hardware import HARDWARE
 
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel
-from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, NON_DRIVING_GEARS, get_frogpilot_toggles
+from openpilot.selfdrive.frogpilot.frogpilot_variables import NON_DRIVING_GEARS, get_frogpilot_toggles
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -569,7 +569,7 @@ def state_control(self, CS):
     # Update VehicleModel
     lp = self.sm['liveParameters']
     x = max(lp.stiffnessFactor, 0.1)
-    sr = max(self.frogpilot_toggles.steer_ratio, 0.1) if self.frogpilot_toggles.use_custom_steer_ratio else max(lp.steerRatio, 0.1)
+    sr = max(self.frogpilot_toggles.steer_ratio if self.frogpilot_toggles.use_custom_steer_ratio else lp.steerRatio, 0.1)
     self.VM.update_params(x, sr)
 
     # Update Torque Params
@@ -624,7 +624,7 @@ def state_control(self, CS):
         t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
         actuators.accel = self.LoC.update_old_long(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
       else:
-        actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop or self.sm['frogpilotPlan'].forcingStopLength <= 0, pid_accel_limits)
+        actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop or self.sm['frogpilotPlan'].forcingStopLength == 0, pid_accel_limits)
 
       if len(long_plan.speeds):
         actuators.speed = long_plan.speeds[-1]

selfdrive/controls/lib/desire_helper.py

@@ -49,7 +49,7 @@ def __init__(self):
     # FrogPilot variables
     self.lane_change_completed = False
 
-    self.lane_change_wait_timer = 0.0
+    self.lane_change_wait_timer = 0
 
     self.turn_direction = TurnDirection.none
 

selfdrive/controls/lib/drive_helpers.py

@@ -3,7 +3,6 @@
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,

selfdrive/controls/lib/latcontrol_torque.py

@@ -1,4 +1,5 @@
 from collections import deque
+
 import math
 import numpy as np
 

selfdrive/controls/lib/longcontrol.py

@@ -89,7 +89,7 @@ def long_control_state_trans_old_long(CP, active, long_control_state, v_ego, v_t
 class LongControl:
   def __init__(self, CP):
     self.CP = CP
-    self.long_control_state = LongCtrlState.off  # initialized to off
+    self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)

selfdrive/controls/plannerd.py

@@ -31,7 +31,7 @@ def plannerd_thread():
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2',
-                            'frogpilotCarControl', 'frogpilotCarState', 'frogpilotPlan'],
+                            'frogpilotCarState', 'frogpilotPlan'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   # FrogPilot variables

selfdrive/frogpilot/assets/model_manager.py

@@ -54,7 +54,7 @@ def fetch_all_model_sizes(repo_url):
     elif "gitlab" in repo_url:
       api_url = f"https://gitlab.com/api/v4/projects/{urllib.parse.quote_plus(project_path)}/repository/tree?ref={branch}"
     else:
-      raise ValueError(f"Unsupported repository URL format: {repo_url}. Supported formats are GitHub and GitLab URLs.")
+      return {}
 
     try:
       response = requests.get(api_url)
@@ -72,8 +72,8 @@ def fetch_all_model_sizes(repo_url):
         return model_sizes
       else:
         return {file['name'].replace('.thneed', ''): file['size'] for file in thneed_files if 'size' in file}
-
-    except:
+    except Exception as e:
+      raise ConnectionError(f"Failed to fetch model sizes from {'GitHub' if 'github' in repo_url else 'GitLab'}: {e}")
       return {}
 
   @staticmethod

selfdrive/frogpilot/frogpilot_functions.py

@@ -198,8 +198,7 @@ def frogpilot_boot_functions(build_metadata, params, params_storage):
 
 def setup_frogpilot(build_metadata, params):
   remount_persist = ["sudo", "mount", "-o", "remount,rw", "/persist"]
-  if not run_cmd(remount_persist, "Successfully remounted /persist as read-write.", "Failed to remount /persist."):
-    HARDWARE.reboot()
+  run_cmd(remount_persist, "Successfully remounted /persist as read-write.", "Failed to remount /persist.")
 
   os.makedirs("/persist/params", exist_ok=True)
   os.makedirs(MODELS_PATH, exist_ok=True)
@@ -248,14 +247,14 @@ def setup_frogpilot(build_metadata, params):
     copy_if_exists(frog_steering_wheel_source, frog_steering_wheel_destination, single_file_name="frog.png")
 
   remount_root = ["sudo", "mount", "-o", "remount,rw", "/"]
-  if not run_cmd(remount_root, "File system remounted as read-write.", "Failed to remount file system."):
-    HARDWARE.reboot()
+  run_cmd(remount_root, "File system remounted as read-write.", "Failed to remount file system.")
 
   boot_logo_location = "/usr/comma/bg.jpg"
   boot_logo_save_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "original_bg.jpg")
   frogpilot_boot_logo = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "frogpilot_boot_logo.png")
 
   if not filecmp.cmp(frogpilot_boot_logo, boot_logo_location, shallow=False):
+    run_cmd(["sudo", "cp", boot_logo_location, boot_logo_save_location], "Successfully backed up original bg.jpg.", "Failed to back up original boot logo.")
     run_cmd(["sudo", "cp", frogpilot_boot_logo, boot_logo_location], "Successfully replaced bg.jpg with frogpilot_boot_logo.png.", "Failed to replace boot logo.")
 
   if build_metadata.channel == "FrogPilot-Development":
@@ -267,7 +266,6 @@ def uninstall_frogpilot():
   boot_logo_restore_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "original_bg.jpg")
 
   copy_cmd = ["sudo", "cp", boot_logo_restore_location, boot_logo_location]
-  if not run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo."):
-    HARDWARE.reboot()
+  run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo.")
 
   HARDWARE.uninstall()

selfdrive/frogpilot/frogpilot_utilities.py

@@ -37,7 +37,7 @@ def calculate_road_curvature(modelData, v_ego):
   orientation_rate = np.abs(modelData.orientationRate.z)
   velocity = modelData.velocity.x
   max_pred_lat_acc = np.amax(orientation_rate * velocity)
-  return max_pred_lat_acc / v_ego**2
+  return max_pred_lat_acc / max(v_ego, 1)**2
 
 def copy_if_exists(source, destination, single_file_name=None):
   if not os.path.exists(source):
@@ -71,18 +71,15 @@ def is_url_pingable(url, timeout=5):
     print(f"Failed to ping {url}: {e}")
     return False
 
-def run_cmd(cmd, success_message, fail_message, retries=5, delay=1):
-  for attempt in range(retries):
-    try:
-      subprocess.check_call(cmd)
-      print(success_message)
-      return True
-    except Exception as e:
-      print(f"Unexpected error occurred (attempt {attempt + 1} of {retries}): {e}")
-      time.sleep(delay)
-
-  print(fail_message)
-  return False
+def run_cmd(cmd, success_message, fail_message):
+  try:
+    subprocess.check_call(cmd)
+    print(success_message)
+    return True
+  except Exception as e:
+    print(f"Unexpected error occurred: {e}")
+    print(fail_message)
+    return False
 
 class MovingAverageCalculator:
   def __init__(self):