Visuals - Custom Themes - Random Events

Enjoy a bit of unpredictability with random events that can occur during certain driving conditions. This is purely cosmetic and has no impact on driving controls!

selfdrive/controls/controlsd.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import math
+import random
 import time
 import threading
 from typing import SupportsFloat
@@ -21,7 +22,7 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import IMPERIAL_INCREMENT, VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -194,10 +195,14 @@ class Controls:
 
     self.always_on_lateral_active = False
     self.drive_added = False
+    self.fcw_random_event_triggered = False
     self.holiday_theme_alerted = False
+    self.no_entry_alert_played = False
+    self.no_entry_alert_triggered = False
     self.onroad_distance_pressed = False
     self.openpilot_crashed_triggered = False
     self.previous_traffic_mode = False
+    self.random_event_triggered = False
     self.resume_pressed = False
     self.resume_previously_pressed = False
     self.speed_check = False
@@ -208,7 +213,10 @@ class Controls:
     self.display_timer = 0
     self.drive_distance = 0
     self.drive_time = 0
+    self.max_acceleration = 0
     self.previous_speed_limit = 0
+    self.previous_v_cruise = 0
+    self.random_event_timer = 0
     self.speed_limit_timer = 0
 
   def set_initial_state(self):
@@ -411,6 +419,11 @@ class Controls:
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
     if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode):
       self.events.add(EventName.fcw)
+      self.fcw_random_event_triggered = not self.random_event_triggered
+    elif self.fcw_random_event_triggered and self.frogpilot_toggles.random_events:
+      self.events.add(EventName.yourFrogTriedToKillMe)
+      self.fcw_random_event_triggered = False
+      self.random_event_triggered = True
 
     for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
       try:
@@ -553,6 +566,7 @@ class Controls:
       if self.events.contains(ET.ENABLE):
         if self.events.contains(ET.NO_ENTRY):
           self.current_alert_types.append(ET.NO_ENTRY)
+          self.no_entry_alert_triggered = True
 
         else:
           if self.events.contains(ET.PRE_ENABLE):
@@ -665,8 +679,18 @@ class Controls:
         turning = abs(lac_log.desiredLateralAccel) > 1.0
         good_speed = CS.vEgo > 5
         max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
-        if undershooting and turning and good_speed and max_torque:
-          lac_log.active and self.events.add(EventName.goatSteerSaturated if self.frogpilot_toggles.goat_scream else EventName.steerSaturated)
+        if undershooting and turning and good_speed and max_torque and not self.random_event_triggered:
+          event_choices = [1, 2]
+          if self.sm.frame % (10000 // len(event_choices)) == 0 and self.frogpilot_toggles.random_events:
+            event_choice = random.choice(event_choices)
+            if event_choice == 1:
+              lac_log.active and self.events.add(EventName.firefoxSteerSaturated)
+              self.params_memory.put_int("CurrentRandomEvent", 1)
+            elif event_choice == 2:
+              lac_log.active and self.events.add(EventName.goatSteerSaturated)
+            self.random_event_triggered = True
+          else:
+            lac_log.active and self.events.add(EventName.goatSteerSaturated if self.frogpilot_toggles.goat_scream else EventName.steerSaturated)
       elif lac_log.saturated:
         # TODO probably should not use dpath_points but curvature
         dpath_points = model_v2.position.y
@@ -933,9 +957,56 @@ class Controls:
       self.events.add(EventName.leadDeparting)
 
     if not self.openpilot_crashed_triggered and os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
-      self.events.add(EventName.openpilotCrashed)
+      if self.frogpilot_toggles.random_events:
+        self.events.add(EventName.openpilotCrashedRandomEvent)
+      else:
+        self.events.add(EventName.openpilotCrashed)
       self.openpilot_crashed_triggered = True
 
+    if self.frogpilot_toggles.random_events and not self.random_event_triggered:
+      acceleration = CS.aEgo
+
+      if not CS.gasPressed:
+        self.max_acceleration = max(acceleration, self.max_acceleration)
+      else:
+        self.max_acceleration = 0
+
+      if 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5:
+        self.events.add(EventName.accel30)
+        self.params_memory.put_int("CurrentRandomEvent", 2)
+        self.random_event_triggered = True
+        self.max_acceleration = 0
+
+      elif 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5:
+        self.events.add(EventName.accel35)
+        self.params_memory.put_int("CurrentRandomEvent", 3)
+        self.random_event_triggered = True
+        self.max_acceleration = 0
+
+      elif self.max_acceleration >= 4.0 and acceleration < 1.5:
+        self.events.add(EventName.accel40)
+        self.params_memory.put_int("CurrentRandomEvent", 4)
+        self.random_event_triggered = True
+        self.max_acceleration = 0
+
+      if frogpilotPlan.takingCurveQuickly:
+        self.events.add(EventName.dejaVuCurve)
+        self.params_memory.put_int("CurrentRandomEvent", 5)
+        self.random_event_triggered = True
+
+      if self.no_entry_alert_triggered and not self.no_entry_alert_played:
+        self.events.add(EventName.hal9000)
+        self.no_entry_alert_played = True
+        self.random_event_triggered = True
+
+      conversion = 1 if self.is_metric else IMPERIAL_INCREMENT
+      v_cruise = max(self.v_cruise_helper.v_cruise_kph, self.v_cruise_helper.v_cruise_cluster_kph) * conversion
+
+      if 70 > v_cruise >= 69 and v_cruise != self.previous_v_cruise:
+        self.events.add(EventName.vCruise69)
+        self.random_event_triggered = True
+        self.previous_v_cruise = v_cruise
+
     if self.frogpilot_toggles.speed_limit_alert and self.speed_limit_changed:
       self.events.add(EventName.speedLimitChanged)
 
@@ -994,6 +1065,13 @@ class Controls:
           self.experimental_mode = not self.experimental_mode
           self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
 
+    if self.random_event_triggered:
+      self.random_event_timer += DT_CTRL
+      if self.random_event_timer >= 4:
+        self.random_event_triggered = False
+        self.random_event_timer = 0
+        self.params_memory.remove("CurrentRandomEvent")
+
     if self.sm.frame % 10 == 0 or self.resume_pressed:
       self.resume_previously_pressed = self.resume_pressed
 

selfdrive/controls/lib/drive_helpers.py

@@ -14,7 +14,7 @@ V_CRUISE_MAX = 145
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
 V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
-IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
+IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed
 
 MIN_SPEED = 1.0
 CONTROL_N = 17

selfdrive/controls/lib/events.py

@@ -1117,6 +1117,79 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
   },
+
+  # Random Events
+  EventName.accel30: {
+    ET.WARNING: Alert(
+      "UwU u went a bit fast there!",
+      "(⁄ ⁄•⁄ω⁄•⁄ ⁄)",
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.uwu, 4.),
+  },
+
+  EventName.accel35: {
+    ET.WARNING: Alert(
+      "I ain't giving you no tree-fiddy",
+      "You damn Loch Ness Monsta!",
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.nessie, 4.),
+  },
+
+  EventName.accel40: {
+    ET.WARNING: Alert(
+      "Great Scott!",
+      "🚗💨",
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.doc, 4.),
+  },
+
+  EventName.dejaVuCurve: {
+    ET.WARNING: Alert(
+      "♬♪ Deja vu! ᕕ(⌐■_■)ᕗ ♪♬",
+      "🏎️",
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.dejaVu, 4.),
+  },
+
+  EventName.firefoxSteerSaturated: {
+    ET.WARNING: Alert(
+      "Turn Exceeds Steering Limit",
+      "IE Has Stopped Responding...",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.firefox, 4.),
+  },
+
+  EventName.hal9000: {
+    ET.WARNING: Alert(
+      "I'm sorry Dave",
+      "I'm afraid I can't do that...",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.hal9000, 4.),
+  },
+
+  EventName.openpilotCrashedRandomEvent: {
+    ET.PERMANENT: Alert(
+      "openpilot crashed 💩",
+      "Please post the 'Error Log' in the FrogPilot Discord!",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGHEST, VisualAlert.none, AudibleAlert.fart, 10.),
+  },
+
+  EventName.vCruise69: {
+    ET.PERMANENT: Alert(
+      "Lol 69",
+      "",
+      AlertStatus.frogpilot, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.noice, 2.),
+  },
+
+  EventName.yourFrogTriedToKillMe: {
+    ET.PERMANENT: Alert(
+      "Your Frog tried to kill me...",
+      "👺",
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.MID, VisualAlert.none, AudibleAlert.angry, 5.),
+  },
 }
 
 

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -56,6 +56,7 @@ class FrogPilotPlanner:
     self.override_force_stop = False
     self.override_slc = False
     self.slower_lead = False
+    self.taking_curve_quickly = False
     self.tracking_lead = False
 
     self.acceleration_jerk = 0
@@ -124,6 +125,9 @@ class FrogPilotPlanner:
     self.override_force_stop |= frogpilotCarControl.resumePressed
     self.road_curvature = calculate_road_curvature(modelData, v_ego) if not carState.standstill and driving_gear else 1
 
+    if frogpilot_toggles.random_events and v_ego > CRUISING_SPEED and driving_gear:
+      self.taking_curve_quickly = v_ego > (1 / self.road_curvature)**0.5 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30
+
     self.set_acceleration(controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles)
     self.set_follow_values(controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles)
     self.set_lead_status(lead_distance, stopping_distance, v_ego)
@@ -347,6 +351,8 @@ class FrogPilotPlanner:
     frogpilotPlan.slcSpeedLimitOffset = SpeedLimitController.offset
     frogpilotPlan.unconfirmedSlcSpeedLimit = SpeedLimitController.desired_speed_limit
 
+    frogpilotPlan.takingCurveQuickly = self.taking_curve_quickly
+
     frogpilotPlan.vCruise = self.v_cruise
 
     pm.send('frogpilotPlan', frogpilot_plan_send)

selfdrive/ui/qt/onroad/buttons.cc

@@ -19,6 +19,18 @@ void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrus
   p.restore();
 }
 
+void drawIconGif(QPainter &p, const QPoint &center, const QMovie &img, const QBrush &bg, float opacity) {
+  p.setRenderHint(QPainter::Antialiasing);
+  p.setOpacity(1.0);  // bg dictates opacity of ellipse
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center.x() - btn_size / 2, center.y() - btn_size / 2, btn_size, btn_size);
+  p.setOpacity(opacity);
+  QPixmap currentFrame = img.currentPixmap();
+  p.drawPixmap(center - QPoint(currentFrame.width() / 2, currentFrame.height() / 2), currentFrame);
+  p.setOpacity(1.0);
+}
+
 // ExperimentalButton
 ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
   setFixedSize(btn_size, btn_size);
@@ -36,6 +48,13 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
     {5, loadPixmap("../frogpilot/assets/wheel_images/hyundai.png", {img_size, img_size})},
     {6, loadPixmap("../frogpilot/assets/wheel_images/stalin.png", {img_size, img_size})},
   };
+
+  wheelImagesGif = {
+    {0, new QMovie("../frogpilot/assets/random_events/images/firefox.gif", QByteArray(), this)},
+    {1, new QMovie("../frogpilot/assets/random_events/images/weeb_wheel.gif", QByteArray(), this)},
+    {2, new QMovie("../frogpilot/assets/random_events/images/tree_fiddy.gif", QByteArray(), this)},
+    {3, new QMovie("../frogpilot/assets/random_events/images/great_scott.gif", QByteArray(), this)},
+  };
 }
 
 void ExperimentalButton::changeMode() {
@@ -67,13 +86,31 @@ void ExperimentalButton::updateState(const UIState &s) {
   conditionalExperimental = scene.conditional_experimental;
   conditionalStatus = scene.conditional_status;
   navigateOnOpenpilot = scene.navigate_on_openpilot;
+  randomEvent = scene.current_random_event;
   rotatingWheel = scene.rotating_wheel;
   trafficModeActive = scene.traffic_mode_active;
   wheelIcon = scene.wheel_icon;
+  wheelIconGif = 0;
 
-  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+  if (randomEvent == 0 && gifLabel) {
+    delete gifLabel;
+    gifLabel = nullptr;
+  } else if (randomEvent == 1 || randomEvent == 2 || randomEvent == 3 || randomEvent == 4) {
+    gifLabel = new QLabel(this);
+
+    QMovie *movie = wheelImagesGif[randomEvent - 1];
+    if (movie) {
+      movie->setScaledSize(QSize(img_size, img_size));
+      gifLabel->setMovie(movie);
+      gifLabel->move((width() - gifLabel->width()) / 2, (height() - gifLabel->height()) / 2);
+      gifLabel->movie()->start();
+    }
+
+    wheelIconGif = randomEvent - 1;
     update();
+  } else if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
     steeringAngleDeg = scene.steering_angle_deg;
+    update();
   } else if (!rotatingWheel) {
     steeringAngleDeg = 0;
   }
@@ -87,6 +124,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   engage_img = wheelImages[wheelIcon];
   QPixmap img = wheelIcon != 0 ? engage_img : (experimental_mode ? experimental_img : engage_img);
+  QMovie *gif = wheelImagesGif[wheelIconGif];
 
   QColor background_color = wheelIcon != 0 && !isDown() && engageable ?
     (alwaysOnLateralActive ? bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE] :
@@ -96,7 +134,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
     (navigateOnOpenpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : QColor(0, 0, 0, 166)))))) :
     QColor(0, 0, 0, 166);
 
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg);
+  if (wheelIconGif != 0) {
+    drawIconGif(p, QPoint(btn_size / 2, btn_size / 2), *gif, background_color, 1.0);
+  } else {
+    drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, background_color, (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg);
+  }
 }
 
 // MapSettingsButton

selfdrive/ui/qt/onroad/buttons.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <QLabel>
+#include <QMovie>
 #include <QPushButton>
 
 #include "selfdrive/ui/ui.h"
@@ -32,10 +34,15 @@ private:
   bool trafficModeActive;
 
   int conditionalStatus;
+  int randomEvent;
   int steeringAngleDeg;
   int wheelIcon;
+  int wheelIconGif;
+
+  QLabel *gifLabel;
 
   QMap<int, QPixmap> wheelImages;
+  QMap<int, QMovie*> wheelImagesGif;
 
   Params paramsMemory{"/dev/shm/params"};
 };

selfdrive/ui/soundd.py

@@ -41,6 +41,17 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
 
+  # Random Events
+  AudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME),
+  AudibleAlert.dejaVu: ("dejaVu.wav", 1, MAX_VOLUME),
+  AudibleAlert.doc: ("doc.wav", 1, MAX_VOLUME),
+  AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME),
+  AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME),
+  AudibleAlert.hal9000: ("hal9000.wav", 1, MAX_VOLUME),
+  AudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME),
+  AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME),
+  AudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME),
+
   # Other
   AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME),
 }
@@ -69,6 +80,20 @@ class Soundd:
     self.frogpilot_toggles = FrogPilotVariables.toggles
 
     self.previous_sound_directory = None
+    self.random_events_directory = BASEDIR + "/selfdrive/frogpilot/assets/random_events/sounds/"
+
+    self.random_events_map = {
+      AudibleAlert.angry: MAX_VOLUME,
+      AudibleAlert.dejaVu: MAX_VOLUME,
+      AudibleAlert.doc: MAX_VOLUME,
+      AudibleAlert.fart: MAX_VOLUME,
+      AudibleAlert.firefox: MAX_VOLUME,
+      AudibleAlert.goat: MAX_VOLUME,
+      AudibleAlert.hal9000: MAX_VOLUME,
+      AudibleAlert.nessie: MAX_VOLUME,
+      AudibleAlert.noice: MAX_VOLUME,
+      AudibleAlert.uwu: MAX_VOLUME,
+    }
 
     self.update_toggles = False
 
@@ -81,12 +106,15 @@ class Soundd:
     for sound in sound_list:
       filename, play_count, volume = sound_list[sound]
 
-      try:
+      if sound in self.random_events_map:
+        wavefile = wave.open(self.random_events_directory + filename, 'r')
+      else:
         if sound == AudibleAlert.goat and not self.frogpilot_toggles.goat_scream:
           continue
-        wavefile = wave.open(self.sound_directory + filename, 'r')
-      except FileNotFoundError:
-        wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
+        try:
+          wavefile = wave.open(self.sound_directory + filename, 'r')
+        except FileNotFoundError:
+          wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
 
       assert wavefile.getnchannels() == 1
       assert wavefile.getsampwidth() == 2
@@ -172,6 +200,9 @@ class Soundd:
         elif self.frogpilot_toggles.alert_volume_control and self.current_alert in self.volume_map:
           self.current_volume = self.volume_map[self.current_alert] / 100.0
 
+        elif self.current_alert in self.random_events_map:
+          self.current_volume = self.random_events_map[self.current_alert]
+
         self.get_audible_alert(sm)
 
         rk.keep_time()

selfdrive/ui/ui.cc

@@ -336,6 +336,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.custom_icons = custom_theme ? params.getInt("CustomIcons") : 0;
   scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0;
   scene.holiday_themes = custom_theme && params.getBool("HolidayThemes");
+  scene.random_events = custom_theme && params.getBool("RandomEvents");
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
   scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");
@@ -461,6 +462,7 @@ void UIState::update() {
   // FrogPilot variables that need to be constantly updated
   scene.conditional_status = scene.conditional_experimental && scene.enabled ? paramsMemory.getInt("CEStatus") : 0;
   scene.current_holiday_theme = scene.holiday_themes ? paramsMemory.getInt("CurrentHolidayTheme") : 0;
+  scene.current_random_event = scene.random_events ? paramsMemory.getInt("CurrentRandomEvent") : 0;
   scene.started_timer = scene.started || started_prev ? scene.started_timer + 1 : 0;
 }
 

selfdrive/ui/ui.h

@@ -146,6 +146,7 @@ typedef struct UIScene {
   bool onroad_distance_button;
   bool parked;
   bool pedals_on_ui;
+  bool random_events;
   bool red_light;
   bool reverse;
   bool reverse_cruise;
@@ -189,6 +190,7 @@ typedef struct UIScene {
   int conditional_speed_lead;
   int conditional_status;
   int current_holiday_theme;
+  int current_random_event;
   int custom_colors;
   int custom_icons;
   int custom_signals;