November 2024 Update

FrogAi · Nov 25, 2024 · bbb8f5f · bbb8f5f
1 parent d9aaed3
commit bbb8f5f
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diff --git a/README.md b/README.md
@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**October 21st, 2024**
+**November 24th, 2024**
 
 Features
 ------

diff --git a/SConstruct b/SConstruct
@@ -277,7 +277,6 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-
 qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
 
 qt_libs = []

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
+    startupNoSecOcKey @149;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -137,14 +138,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     openpilotCrashedRandomEvent @137;
     pedalInterceptorNoBrake @138;
     speedLimitChanged @139;
-    torqueNNLoad @140;
-    trafficModeActive @141;
-    trafficModeInactive @142;
-    turningLeft @143;
-    turningRight @144;
-    vCruise69 @145;
-    yourFrogTriedToKillMe @146;
-    youveGotMail @147;
+    thisIsFineSteerSaturated @140;
+    torqueNNLoad @141;
+    trafficModeActive @142;
+    trafficModeInactive @143;
+    turningLeft @144;
+    turningRight @145;
+    vCruise69 @146;
+    yourFrogTriedToKillMe @147;
+    youveGotMail @148;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -453,7 +455,8 @@ struct CarControl {
       mail @16;
       nessie @17;
       noice @18;
-      uwu @19;
+      thisIsFine @19;
+      uwu @20;
     }
   }
 
@@ -546,6 +549,9 @@ struct CarParams {
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired @74 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @75 :Bool;  # Stored SecOC key loaded from params
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @3 :UInt16;

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
@@ -51,30 +51,32 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerkStock @1 :Float32;
   adjustedCruise @2 :Float32;
   dangerJerk @3 :Float32;
-  desiredFollowDistance @4 :Float32;
+  desiredFollowDistance @4 :Int64;
   experimentalMode @5 :Bool;
   forcingStop @6 :Bool;
-  frogpilotEvents @7 :List(Car.CarEvent);
-  lateralCheck @8 :Bool;
-  laneWidthLeft @9 :Float32;
-  laneWidthRight @10 :Float32;
-  maxAcceleration @11 :Float32;
-  minAcceleration @12 :Float32;
-  redLight @13 :Bool;
-  safeObstacleDistance @14 :Int32;
-  safeObstacleDistanceStock @15 :Int32;
-  slcOverridden @16 :Bool;
-  slcOverriddenSpeed @17 :Float32;
-  slcSpeedLimit @18 :Float32;
-  slcSpeedLimitOffset @19 :Float32;
-  speedJerk @20 :Float32;
-  speedJerkStock @21 :Float32;
-  speedLimitChanged @22 :Bool;
-  stoppedEquivalenceFactor @23 :Int32;
-  tFollow @24 :Float32;
-  unconfirmedSlcSpeedLimit @25 :Float32;
-  vCruise @26 :Float32;
-  vtscControllingCurve @27 :Bool;
+  forcingStopLength @7 :Float32;
+  frogpilotEvents @8 :List(Car.CarEvent);
+  lateralCheck @9 :Bool;
+  laneWidthLeft @10 :Float32;
+  laneWidthRight @11 :Float32;
+  maxAcceleration @12 :Float32;
+  minAcceleration @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;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {

diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -618,6 +618,10 @@ struct RadarState @0x9a185389d6fdd05f {
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
+  leadLeft @13 :LeadData;
+  leadRight @14 :LeadData;
+  leadLeftFar @15 :LeadData;
+  leadRightFar @16 :LeadData;
   cumLagMs @5 :Float32;
 
   struct LeadData {

diff --git a/cereal/services.py b/cereal/services.py
@@ -74,13 +74,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
-  # FrogPilot
-  "frogpilotCarControl": (True, 100., 10),
-  "frogpilotCarState": (True, 100., 10),
-  "frogpilotDeviceState": (True, 2., 1),
-  "frogpilotNavigation": (True, 1., 10),
-  "frogpilotPlan": (True, 20., 5),
-
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
@@ -97,6 +90,13 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
+
+  # FrogPilot
+  "frogpilotCarControl": (True, 100., 10),
+  "frogpilotCarState": (True, 100., 10),
+  "frogpilotDeviceState": (True, 2., 1),
+  "frogpilotNavigation": (True, 1., 10),
+  "frogpilotPlan": (True, 20., 5),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

diff --git a/common/conversions.py b/common/conversions.py
@@ -12,8 +12,6 @@ class Conversions:
   KNOTS_TO_MS = 1. / MS_TO_KNOTS
 
   # Distance
-  KM_TO_MILES = KPH_TO_MPH
-  MILES_TO_KM = MPH_TO_KPH
   METER_TO_FOOT = 3.28084
   FOOT_TO_METER = 1. / METER_TO_FOOT
   CM_TO_INCH = 1. / 2.54