June 21st, 2025 Update

Author: FrogAi

.github/update_date

@@ -1 +1 @@
-2025-04-26
+2025-06-21

.github/workflows/compile_frogpilot.yaml

@@ -80,8 +80,8 @@ jobs:
         with:
           ref: ${{ needs.get_branch.outputs.branch }}
           sparse-checkout: |
+            frogpilot/ui/
             selfdrive/controls/lib/alerts_offroad.json
-            selfdrive/frogpilot/ui/
             selfdrive/ui/
             selfdrive/ui/update_translations.py
             selfdrive/ui/translations/

.github/workflows/update_pr_branch.yaml

@@ -6,6 +6,8 @@ on:
       - FrogPilot-Staging
 
 env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
   SOURCE_BRANCH: FrogPilot-Staging
   TARGET_BRANCH: MAKE-PRS-HERE
 
@@ -21,30 +23,25 @@ jobs:
       - name: Checkout ${{ env.SOURCE_BRANCH }}
         uses: actions/checkout@v3
         with:
-          ref: "${{ env.SOURCE_BRANCH }}"
+          persist-credentials: false
+
           fetch-depth: 0
 
+          ref: ${{ env.SOURCE_BRANCH }}
+
       - name: Find "Compile FrogPilot" Commit in ${{ env.SOURCE_BRANCH }}
         id: find_parent
         run: |
           COMMIT=$(git rev-list HEAD -n 1 --grep="Compile FrogPilot")
-          if [ -z "$COMMIT" ]; then
-            echo "Commit with message 'Compile FrogPilot' not found." >&2
-            exit 1
-          fi
+          [ -z "$COMMIT" ] && echo "Compile commit not found." >&2 && exit 1
 
           PARENT=$(git rev-list --parents -n 1 "$COMMIT" | awk '{print $2}')
-          if [ -z "$PARENT" ]; then
-            echo "Parent commit not found." >&2
-            exit 1
-          fi
+          [ -z "$PARENT" ] && echo "Parent commit not found." >&2 && exit 1
 
-          echo "Compile commit: $COMMIT"
-          echo "Parent commit: $PARENT"
           echo "parent_commit=$PARENT" >> "$GITHUB_OUTPUT"
           echo "compile_commit=$COMMIT" >> "$GITHUB_OUTPUT"
 
-      - name: Checkout ${{ env.TARGET_BRANCH }}
+      - name: Fetch and Checkout ${{ env.TARGET_BRANCH }}
         run: |
           git fetch origin "${{ env.TARGET_BRANCH }}"
           git checkout "${{ env.TARGET_BRANCH }}"
@@ -53,17 +50,12 @@ jobs:
         run: |
           git rm -r --ignore-unmatch .
           git clean -fdx
-
-          PARENT_COMMIT="${{ steps.find_parent.outputs.parent_commit }}"
-          git checkout "$PARENT_COMMIT" -- .
+          git checkout "${{ steps.find_parent.outputs.parent_commit }}" -- .
 
           COMPILE_COMMIT="${{ steps.find_parent.outputs.compile_commit }}"
           SOURCE_HEAD=$(git rev-parse "origin/${{ env.SOURCE_BRANCH }}")
 
-          if [ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ]; then
-            echo "Applying changes from '${{ env.SOURCE_BRANCH }}' branch..."
-            git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
-          fi
+          [ "$COMPILE_COMMIT" != "$SOURCE_HEAD" ] && git cherry-pick --no-commit "${COMPILE_COMMIT}".."$SOURCE_HEAD"
 
           rm -f .github/update_date
 
@@ -72,28 +64,22 @@ jobs:
       - name: Commit and Push to ${{ env.TARGET_BRANCH }}
         run: |
           TZ_VALUE="America/Phoenix"
-          current_day=$(TZ="$TZ_VALUE" date +"%-d")
+          day=$(TZ="$TZ_VALUE" date +"%-d")
           month=$(TZ="$TZ_VALUE" date +"%B")
           year=$(TZ="$TZ_VALUE" date +"%Y")
 
-          if [[ "$current_day" =~ ^1[123]$ ]]; then
-            suffix="th"
-          else
-            case $(($current_day % 10)) in
-              1) suffix="st" ;;
-              2) suffix="nd" ;;
-              3) suffix="rd" ;;
-              *) suffix="th" ;;
-            esac
-          fi
+          case $day in
+            11|12|13) s=th ;;
+            *) case $((day % 10)) in 1) s=st ;; 2) s=nd ;; 3) s=rd ;; *) s=th ;; esac ;;
+          esac
 
-          commit_message="${month} ${current_day}${suffix}, ${year} Update"
-          echo "Commit message: $commit_message"
+          commit_message="${month} ${day}${s}, ${year} Update"
 
-          if git log --oneline --format="%s" | grep -q "$commit_message"; then
-            echo "Existing commit found with message: $commit_message"
+          if git log -1 --pretty=%s | grep -q "$commit_message"; then
             git commit --amend --no-edit
           else
             git commit -m "$commit_message"
           fi
+
+          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
           git push origin "${{ env.TARGET_BRANCH }}" --force

.github/workflows/update_release_branch.yaml

@@ -2,9 +2,11 @@ name: Update FrogPilot Branch
 
 on:
   schedule:
-    - cron: "0 18 * * *"
+    - cron: "0 18 * * 6"
 
 env:
+  GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
   BRANCH_FROGPILOT: FrogPilot
   BRANCH_PREVIOUS: FrogPilot-Previous
   BRANCH_STAGING: FrogPilot-Staging
@@ -20,7 +22,7 @@ jobs:
       update_due: ${{ steps.check_update.outputs.update_due }}
       scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
     steps:
-      - name: Download the 'update_date' File
+      - name: Download the "update_date" File
         id: download_update
         run: |
           curl -fLsS "https://raw.githubusercontent.com/FrogAi/FrogPilot/${{ env.BRANCH_STAGING }}/${{ env.UPDATE_FILE }}" -o update_date || touch update_date_missing
@@ -29,18 +31,14 @@ jobs:
         id: check_update
         run: |
           if [ -f update_date_missing ]; then
-            echo "No update_date file found in FrogPilot-Staging."
             echo "update_due=false" >> "$GITHUB_OUTPUT"
             exit 0
           fi
 
           SCHEDULED_DATE=$(cat update_date)
           CURRENT_DATE=$(TZ="${{ env.TZ }}" date +%F)
-          echo "Scheduled Date: $SCHEDULED_DATE"
-          echo "Current Date: $CURRENT_DATE"
 
           if [ "$SCHEDULED_DATE" != "$CURRENT_DATE" ]; then
-            echo "Update not due."
             echo "update_due=false" >> "$GITHUB_OUTPUT"
             exit 0
           fi
@@ -61,10 +59,17 @@ jobs:
       - name: Checkout ${{ env.BRANCH_STAGING }}
         uses: actions/checkout@v3
         with:
+          persist-credentials: false
+
           fetch-depth: 0
+
           ref: ${{ env.BRANCH_STAGING }}
 
-      - name: Update README Date and Remove (${{ env.UPDATE_FILE }})
+      - name: Authenticate with GITHUB_TOKEN
+        run: |
+          git remote set-url origin https://x-access-token:${GITHUB_TOKEN}@github.com/${{ github.repository }}
+
+      - name: Update README Date and Remove update file
         run: |
           DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
           case "$DAY" in
@@ -77,7 +82,6 @@ jobs:
           YEAR=$(TZ="${{ env.TZ }}" date +'%Y')
           NEW_DATE="**${MONTH} ${DAY}${SUFFIX}, ${YEAR}**"
 
-          echo "Updating README date to ${NEW_DATE}"
           sed -i "/FrogPilot was last updated on:/ { N; N; s/\(\n\)\n.*$/\1\n${NEW_DATE}/; }" README.md
 
           git add README.md
@@ -102,18 +106,12 @@ jobs:
         run: |
           git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
 
-      - name: Wait Until Noon ${{ env.TZ }} Before Continuing
+      - name: Wait Until Noon ${{ env.TZ }}
         run: |
           NOW=$(TZ="${{ env.TZ }}" date +%s)
           TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
 
-          if [ "$NOW" -lt "$TARGET" ]; then
-            SLEEP_TIME=$((TARGET - NOW))
-            echo "Sleeping for $SLEEP_TIME seconds until noon..."
-            sleep $SLEEP_TIME
-          else
-            echo "It is already noon or past noon, proceeding immediately."
-          fi
+          [ "$NOW" -lt "$TARGET" ] && sleep $((TARGET - NOW))
 
       - name: Push ${{ env.BRANCH_STAGING }}
         run: |

cereal/custom.capnp

@@ -10,7 +10,13 @@ using Car = import "car.capnp";
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct FrogPilotCarState @0x81c2f05a394cf4af {
+struct FrogPilotCarParams @0x81c2f05a394cf4af {
+  fpFlags @0 :UInt32;
+  isHDA2 @1 :Bool;
+  openpilotLongitudinalControlDisabled @2 :Bool;
+}
+
+struct FrogPilotCarState @0xaedffd8f31e7b55d {
   struct ButtonEvent {
     enum Type {
       lkas @0;
@@ -31,56 +37,55 @@ struct FrogPilotCarState @0x81c2f05a394cf4af {
   pauseLateral @11 :Bool;
   pauseLongitudinal @12 :Bool;
   sportGear @13 :Bool;
-  trafficMode @14 :Bool;
+  trafficModeEnabled @14 :Bool;
 }
 
-struct FrogPilotDeviceState @0xaedffd8f31e7b55d {
+struct FrogPilotDeviceState @0xf35cc4560bbf6ec2 {
   freeSpace @0 :Int16;
   usedSpace @1 :Int16;
 }
 
-struct FrogPilotNavigation @0xf35cc4560bbf6ec2 {
+struct FrogPilotNavigation @0xda96579883444c35 {
   approachingIntersection @0 :Bool;
   approachingTurn @1 :Bool;
   navigationSpeedLimit @2 :Float32;
 }
 
-struct FrogPilotPlan @0xda96579883444c35 {
+struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerk @0 :Float32;
   accelerationJerkStock @1 :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;
-  roadCurvature @15 :Float32;
-  slcMapSpeedLimit @16 :Float32;
-  slcOverridden @17 :Bool;
-  slcOverriddenSpeed @18 :Float32;
-  slcSpeedLimit @19 :Float32;
-  slcSpeedLimitOffset @20 :Float32;
-  slcSpeedLimitSource @21 :Text;
-  speedJerk @22 :Float32;
-  speedJerkStock @23 :Float32;
-  speedLimitChanged @24 :Bool;
-  tFollow @25 :Float32;
-  togglesUpdated @26 :Bool;
-  unconfirmedSlcSpeedLimit @27 :Float32;
-  upcomingSLCSpeedLimit @28 :Float32;
-  vCruise @29 :Float32;
-  vtscControllingCurve @30 :Bool;
-  vtscSpeed @31 :Float32;
-}
-
-struct CustomReserved4 @0x80ae746ee2596b11 {
+  trackingLead @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;
+  mtscSpeed @14 :Float32;
+  redLight @15 :Bool;
+  roadCurvature @16 :Float32;
+  slcMapSpeedLimit @17 :Float32;
+  slcMapboxSpeedLimit @18 :Float32;
+  slcNextSpeedLimit @19 :Float32;
+  slcOverriddenSpeed @20 :Float32;
+  slcSpeedLimit @21 :Float32;
+  slcSpeedLimitOffset @22 :Float32;
+  slcSpeedLimitSource @23 :Text;
+  speedJerk @24 :Float32;
+  speedJerkStock @25 :Float32;
+  speedLimitChanged @26 :Bool;
+  tFollow @27 :Float32;
+  themeUpdated @28 :Bool;
+  togglesUpdated @29 :Bool;
+  unconfirmedSlcSpeedLimit @30 :Float32;
+  vCruise @31 :Float32;
+  vtscControllingCurve @32 :Bool;
+  vtscSpeed @33 :Float32;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {