March 29th, 2025 Update

Author: FrogAi

.github/workflows/compile_frogpilot.yaml

@@ -167,7 +167,6 @@ jobs:
           rm -f poetry.lock
           rm -f pyproject.toml
           rm -f teleoprtc
-          rm -f tinygrad
           rm -f Dockerfile.openpilot
           rm -f Dockerfile.openpilot_base
           rm -f Jenkinsfile
@@ -225,7 +224,7 @@ jobs:
           find third_party/ -name '*x86*' -exec rm -rf {} +
           find third_party/ -name '*Darwin*' -exec rm -rf {} +
 
-          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' \) -exec rm -rf {} +
+          find tools/ -mindepth 1 -maxdepth 1 ! \( -name '__init__.py' -o -name 'bodyteleop' -o -name 'lib' -o -name 'scripts' \) -exec rm -rf {} +
 
           find . -name 'SConstruct' -delete
           find . -name 'SConscript' -delete
@@ -240,6 +239,18 @@ jobs:
             touch not_vetted
           fi
 
+      - name: Retrieve update_date from FrogPilot-Staging
+        run: |
+          if [ "${{ github.event.inputs.publish_staging }}" = "true" ]; then
+            git fetch origin FrogPilot-Staging
+
+            if git ls-tree --name-only origin/FrogPilot-Staging .github/update_date | grep -q ".github/update_date"; then
+              git show origin/FrogPilot-Staging:.github/update_date > .github/update_date
+            else
+              echo "No .github/update_date found in FrogPilot-Staging branch."
+            fi
+          fi
+
       - name: Commit Build
         run: |
           cd $BUILD_DIR

.github/workflows/review_pull_request.yaml

@@ -14,13 +14,13 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Exit If PR Opened by FrogAi
-        if: ${{ github.actor == "FrogAi" }}
+        if: ${{ github.actor == 'FrogAi' }}
         run: |
           echo "PR opened or reopened by FrogAi. No action needed."
           exit 0
 
       - name: Close PR for Invalid Target Branch
-        if: ${{ github.base_ref != "MAKE-PRS-HERE" }}
+        if: ${{ github.event.pull_request.base.ref != 'MAKE-PRS-HERE' }}
         run: |
           gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
             -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch."
@@ -30,7 +30,7 @@ jobs:
             -f state="closed"
 
       - name: Acknowledge PR for Valid Target Branch
-        if: ${{ github.base_ref == "MAKE-PRS-HERE" }}
+        if: ${{ github.event.pull_request.base.ref == 'MAKE-PRS-HERE' }}
         run: |
           gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \
             -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!"

.github/workflows/schedule_update.yaml

@@ -23,7 +23,7 @@ jobs:
         uses: actions/checkout@v3
         with:
           ref: ${{ env.BRANCH }}
-          fetch-depth: 2
+          fetch-depth: 3
 
       - name: Schedule Update for ${{ github.event.inputs.scheduled_date }}
         run: |

.github/workflows/update_release_branch.yaml

@@ -14,14 +14,12 @@ env:
   UPDATE_FILE: .github/update_date
 
 jobs:
-  update-branch:
+  check_update:
     runs-on: ubuntu-latest
+    outputs:
+      update_due: ${{ steps.check_update.outputs.update_due }}
+      scheduled_date: ${{ steps.check_update.outputs.scheduled_date }}
     steps:
-      - name: Configure Git Identity
-        run: |
-          git config --global user.name "${{ github.actor }}"
-          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
-
       - name: Checkout ${{ env.BRANCH_STAGING }}
         uses: actions/checkout@v3
         with:
@@ -51,8 +49,23 @@ jobs:
           echo "update_due=true" >> "$GITHUB_OUTPUT"
           echo "scheduled_date=$SCHEDULED_DATE" >> "$GITHUB_OUTPUT"
 
+  update_branch:
+    needs: check_update
+    if: needs.check_update.outputs.update_due == "true"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure Git Identity
+        run: |
+          git config --global user.name "${{ github.actor }}"
+          git config --global user.email "${{ github.actor }}@users.noreply.github.com"
+
+      - name: Checkout ${{ env.BRANCH_STAGING }}
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          ref: ${{ env.BRANCH_STAGING }}
+
       - name: Update README Date and Remove (${{ env.UPDATE_FILE }})
-        if: steps.check_update.outputs.update_due == "true"
         run: |
           DAY=$(TZ="${{ env.TZ }}" date +'%d' | sed 's/^0//')
           case "$DAY" in
@@ -73,7 +86,6 @@ jobs:
           git commit -m "Updated README date to ${NEW_DATE}"
 
       - name: Squash Commits
-        if: steps.check_update.outputs.update_due == "true"
         run: |
           COMMIT_MSG=$(git log -1 --pretty=%B HEAD~1)
 
@@ -82,20 +94,17 @@ jobs:
           git commit -m "$COMMIT_MSG"
 
       - name: Rewrite Commit Dates to Noon ${{ env.TZ }}
-        if: steps.check_update.outputs.update_due == "true"
         run: |
-          COMMIT_DATETIME="${{ steps.check_update.outputs.scheduled_date }} 12:00"
+          COMMIT_DATETIME="${{ needs.check_update.outputs.scheduled_date }} 12:00"
           COMMIT_PHX=$(TZ="${{ env.TZ }}" date -d "$COMMIT_DATETIME" +"%Y-%m-%dT%H:%M:%S %z")
 
           git filter-branch --env-filter "export GIT_AUTHOR_DATE='$COMMIT_PHX'; export GIT_COMMITTER_DATE='$COMMIT_PHX'" "${{ env.BRANCH_STAGING }}"
 
       - name: Fetch ${{ env.BRANCH_PREVIOUS }} and ${{ env.BRANCH_FROGPILOT }}
-        if: steps.check_update.outputs.update_due == "true"
         run: |
           git fetch origin ${{ env.BRANCH_PREVIOUS }} ${{ env.BRANCH_FROGPILOT }}
 
       - name: Wait Until Noon ${{ env.TZ }} Before Continuing
-        if: steps.check_update.outputs.update_due == "true"
         run: |
           NOW=$(TZ="${{ env.TZ }}" date +%s)
           TARGET=$(TZ="${{ env.TZ }}" date -d "12:00" +%s)
@@ -109,19 +118,16 @@ jobs:
           fi
 
       - name: Push ${{ env.BRANCH_STAGING }}
-        if: steps.check_update.outputs.update_due == "true"
         run: |
           git push origin "${{ env.BRANCH_STAGING }}" --force
 
       - name: Reset ${{ env.BRANCH_PREVIOUS }} to Match ${{ env.BRANCH_FROGPILOT }}
-        if: steps.check_update.outputs.update_due == "true"
         run: |
           git switch "${{ env.BRANCH_PREVIOUS }}"
           git reset --hard "origin/${{ env.BRANCH_FROGPILOT }}"
           git push origin "${{ env.BRANCH_PREVIOUS }}" --force
 
       - name: Reset ${{ env.BRANCH_FROGPILOT }} to Match ${{ env.BRANCH_STAGING }}
-        if: steps.check_update.outputs.update_due == "true"
         run: |
           git switch "${{ env.BRANCH_FROGPILOT }}"
           git reset --hard "origin/${{ env.BRANCH_STAGING }}"

selfdrive/car/hyundai/carstate.py

@@ -16,6 +16,31 @@
 STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
 
 
+# Traffic signals for Speed Limit Controller - Credit goes to Multikyd!
+@staticmethod
+def calculate_speed_limit(CP, cp, cp_cam):
+  if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      speed_limit_bus = cp
+    else:
+      speed_limit_bus = cp_cam
+
+    speed_limit = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
+  else:
+    if CP.flags & HyundaiFlags.LKAS12:
+      speed_limit = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"]
+    else:
+      speed_limit = 0
+
+    if speed_limit in (0, 255) and CP.flags & HyundaiFlags.NAV_MSG:
+      speed_limit = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"]
+
+  if speed_limit not in (0, 255):
+    return speed_limit
+  else:
+    return 0
+
+
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
@@ -58,22 +83,6 @@ def __init__(self, CP):
     self.active_mode = 0
     self.drive_mode_prev = 0
 
-  # Traffic signals for Speed Limit Controller - Credit goes to Multikyd!
-  def calculate_speed_limit(self, cp, cp_cam):
-    if self.CP.carFingerprint in CANFD_CAR:
-      if self.CP.flags & HyundaiFlags.CANFD_HDA2:
-        speed_limit_bus = cp
-      else:
-        speed_limit_bus = cp_cam
-      return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
-    else:
-      speed_limit_cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] if self.CP.flags & HyundaiFlags.LKAS12 else 0
-      speed_limit_nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] if self.CP.flags & HyundaiFlags.NAV_MSG else 0
-
-      if speed_limit_cam not in (0, 255):
-        return speed_limit_cam
-      return speed_limit_nav
-
   def update(self, cp, cp_cam, frogpilot_toggles):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam, frogpilot_toggles)
@@ -195,7 +204,7 @@ def update(self, cp, cp_cam, frogpilot_toggles):
     fp_ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"])
 
     if self.CP.flags & HyundaiFlags.LKAS12 or self.CP.flags & HyundaiFlags.NAV_MSG:
-      fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
+      fp_ret.dashboardSpeedLimit = calculate_speed_limit(self.CP, cp, cp_cam) * speed_conv
 
     self.prev_distance_button = self.distance_button
     self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
@@ -295,7 +304,7 @@ def update_canfd(self, cp, cp_cam, frogpilot_toggles):
     fp_ret.brakeLights = bool(cp.vl["TCS"]["DriverBraking"])
 
     if self.CP.flags & HyundaiFlags.NAV_MSG:
-      fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
+      fp_ret.dashboardSpeedLimit = calculate_speed_limit(self.CP, cp, cp_cam) * speed_factor
 
     self.prev_distance_button = self.distance_button
     self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST

selfdrive/frogpilot/assets/holiday_themes/april_fools/colors/colors.json

@@ -1,44 +1,44 @@
 {
   "LaneLines": {
-    "red": 23,
-    "green": 134,
-    "blue": 68,
-    "alpha": 242
+    "red": 40,
+    "green": 185,
+    "blue": 170,
+    "alpha": 255
   },
   "LeadMarker": {
-    "red": 23,
-    "green": 134,
-    "blue": 68,
-    "alpha": 242
+    "red": 40,
+    "green": 185,
+    "blue": 170,
+    "alpha": 255
   },
   "Path": {
-    "red": 23,
-    "green": 134,
-    "blue": 68,
-    "alpha": 242
+    "red": 40,
+    "green": 185,
+    "blue": 170,
+    "alpha": 255
   },
   "PathEdge": {
-    "red": 18,
-    "green": 107,
-    "blue": 54,
-    "alpha": 242
+    "red": 32,
+    "green": 148,
+    "blue": 136,
+    "alpha": 255
   },
   "Sidebar1": {
-    "red": 23,
-    "green": 134,
-    "blue": 68,
-    "alpha": 242
+    "red": 40,
+    "green": 185,
+    "blue": 170,
+    "alpha": 255
   },
   "Sidebar2": {
-    "red": 23,
-    "green": 134,
-    "blue": 68,
-    "alpha": 242
+    "red": 237,
+    "green": 118,
+    "blue": 50,
+    "alpha": 255
   },
   "Sidebar3": {
-    "red": 23,
-    "green": 134,
-    "blue": 68,
-    "alpha": 242
+    "red": 203,
+    "green": 247,
+    "blue": 18,
+    "alpha": 255
   }
 }