reset to pre-modification baseline; restart feature work from clean state
Restoring the working tree to the pristine pre-Claude baseline previously preserved at /data/clearpilot (now /data/clearpilot-baseline). The prior modified-but-broken tree is snapshotted at /data/openpilot-broken-2026-05-03 and tagged here as pre-reset-2026-05-03 for reference. From here, features (UI changes, dashcam, telemetry, GPS, display modes, speed logic, standstill power saving, etc.) will be re-introduced one at a time with proper testing.
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@@ -39,9 +39,6 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CRUIS
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from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
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from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
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# CLEARPILOT: UI plumbing for ScreenDisplayMode and the speed/cruise-warning overlay
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from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
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SOFT_DISABLE_TIME = 3 # seconds
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LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
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LANE_DEPARTURE_THRESHOLD = 0.1
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@@ -80,14 +77,7 @@ class Controls:
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self.params_storage = Params("/persist/params")
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self.params_memory.put_bool("CPTLkasButtonAction", False)
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# CLEARPILOT: ScreenDisplayMode is an int (5-state machine: 0..4); UI reads it via getInt
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self.params_memory.put_int("ScreenDisplayMode", 0)
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# CLEARPILOT: speed/cruise-warning overlay state, ticked at ~2Hz from clearpilot_state_control
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self.speed_state = SpeedState()
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self.speed_state_frame = 0
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# CLEARPILOT: edge tracking for park->drive auto-wake of screen
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self.was_driving_gear = False
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self.params_memory.put_bool("ScreenDisplayMode", 0)
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self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
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@@ -117,8 +107,8 @@ class Controls:
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self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
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'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
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'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
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'testJoystick', 'frogpilotPlan', 'gpsLocation'] + self.camera_packets + self.sensor_packets,
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ignore_alive=ignore + ['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'], ignore_valid=['testJoystick', 'gpsLocation'],
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'testJoystick', 'frogpilotPlan'] + self.camera_packets + self.sensor_packets,
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ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
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frequency=int(1/DT_CTRL))
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self.joystick_mode = self.params.get_bool("JoystickDebugMode")
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@@ -687,11 +677,8 @@ class Controls:
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if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
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CC.latActive = False
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self.params_memory.put_bool("no_lat_lane_change", True)
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# CLEARPILOT: hyundai carcontroller reads this off frogpilot_variables (not Params) — keep both in sync
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self.frogpilot_variables.no_lat_lane_change = True
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else:
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self.params_memory.put_bool("no_lat_lane_change", False)
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self.frogpilot_variables.no_lat_lane_change = False
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if CS.leftBlinker or CS.rightBlinker:
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self.last_blinker_frame = self.sm.frame
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@@ -1254,44 +1241,24 @@ class Controls:
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# self.events.add(EventName.clpDebug)
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def clearpilot_state_control(self, CC, CS):
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# CLEARPILOT: pure UI plumbing — does not modify CC/actuators. Maintains
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# ScreenDisplayMode (5-state machine driven by the LFA/debug button + gear
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# edges) and ticks the speed/cruise-warning overlay at ~2Hz.
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driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park,
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GearShifter.reverse, GearShifter.unknown)
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# Auto-wake screen when shifting into drive from screen-off
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if driving_gear and not self.was_driving_gear:
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if self.params_memory.get_int("ScreenDisplayMode") == 3:
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self.params_memory.put_int("ScreenDisplayMode", 0)
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self.was_driving_gear = driving_gear
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# LFA/debug button cycles ScreenDisplayMode. Onroad and offroad use
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# different transition tables.
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if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
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current = self.params_memory.get_int("ScreenDisplayMode")
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if driving_gear:
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# Onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto via button)
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transitions = {0: 4, 1: 2, 2: 3, 3: 4, 4: 2}
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new_mode = transitions.get(current, 0)
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else:
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# Not in drive: anything except 3 → 3 (screen off), state 3 → 0 (auto)
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new_mode = 0 if current == 3 else 3
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self.params_memory.put_int("ScreenDisplayMode", new_mode)
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# Uncomment for debug testing.
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# if self.params_memory.get_bool("CPTLkasButtonAction"):
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# self.params_memory.put_bool("CPTLkasButtonAction", False)
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# else:
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# self.params_memory.put_bool("CPTLkasButtonAction", True)
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# Rotate display mode. These are mostly used in the frontend ui app.
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max_display_mode = 2
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current_display_mode = self.params_memory.get_int("ScreenDisplayMode")
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current_display_mode = current_display_mode + 1
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if current_display_mode > max_display_mode:
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current_display_mode = 0
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self.params_memory.put_int("ScreenDisplayMode", current_display_mode)
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# Speed/cruise-warning overlay tick (~2Hz at 100Hz loop)
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self.speed_state_frame += 1
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if self.speed_state_frame % 50 == 0:
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gps = self.sm['gpsLocation']
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has_gps = self.sm.valid['gpsLocation'] and gps.hasFix
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speed_ms = gps.speed if has_gps else 0.0
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speed_limit_ms = self.params_memory.get_float("CarSpeedLimit") or 0.0
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is_metric = self.is_metric
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cruise_speed_ms = CS.cruiseState.speed
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cruise_active = CS.cruiseState.enabled
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cruise_standstill = CS.cruiseState.standstill
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self.speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
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cruise_speed_ms, cruise_active, cruise_standstill)
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# Leftovers
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# self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
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return CC
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def main():
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