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https://github.com/MoreTore/openpilot.git
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FrogAi
240 lines
9.4 KiB
Python
240 lines
9.4 KiB
Python
#!/usr/bin/env python3
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import random
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.realtime import DT_MDL
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from openpilot.selfdrive.controls.controlsd import Desire
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from openpilot.selfdrive.controls.lib.events import ET, EVENTS, EventName, Events
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from openpilot.frogpilot.assets.theme_manager import update_wheel_image
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from openpilot.frogpilot.common.frogpilot_variables import CRUISING_SPEED, NON_DRIVING_GEARS, params, params_memory
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RANDOM_EVENTS_CHANCE = 0.01 * DT_MDL
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class FrogPilotEvents:
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def __init__(self, FrogPilotPlanner):
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self.frogpilot_planner = FrogPilotPlanner
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self.events = Events()
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self.accel30_played = False
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self.accel35_played = False
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self.accel40_played = False
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self.always_on_lateral_enabled_previously = False
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self.dejaVu_played = False
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self.fcw_played = False
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self.firefox_played = False
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self.goat_played = False
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self.holiday_theme_played = False
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self.nnff_played = False
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self.no_entry_alert_played = False
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self.previous_traffic_mode = False
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self.random_event_playing = False
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self.startup_seen = False
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self.stopped_for_light = False
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self.this_is_fine_played = False
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self.vCruise69_played = False
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self.youveGotMail_played = False
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self.max_acceleration = 0
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self.random_event_timer = 0
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self.tracking_lead_distance = 0
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def update(self, v_cruise, sm, frogpilot_toggles):
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self.events.clear()
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if self.random_event_playing:
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self.random_event_timer += DT_MDL
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if self.random_event_timer >= 5:
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update_wheel_image(frogpilot_toggles.wheel_image, frogpilot_toggles.current_holiday_theme, False)
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params_memory.put_bool("UpdateWheelImage", True)
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self.random_event_playing = False
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self.random_event_timer = 0
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if self.frogpilot_planner.frogpilot_vcruise.forcing_stop:
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self.events.add(EventName.forcingStop)
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if not self.frogpilot_planner.tracking_lead and sm["carState"].standstill and sm["carState"].gearShifter not in NON_DRIVING_GEARS and frogpilot_toggles.green_light_alert:
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if not self.frogpilot_planner.model_stopped and self.stopped_for_light:
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self.events.add(EventName.greenLight)
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self.stopped_for_light = self.frogpilot_planner.cem.stop_light_detected
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else:
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self.stopped_for_light = False
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if not self.holiday_theme_played and self.startup_seen and sm["controlsState"].alertText1 == "" and frogpilot_toggles.current_holiday_theme != "stock" and len(self.events) == 0:
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self.events.add(EventName.holidayActive)
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self.holiday_theme_played = True
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if self.frogpilot_planner.tracking_lead and sm["carState"].standstill and sm["carState"].gearShifter not in NON_DRIVING_GEARS and frogpilot_toggles.lead_departing_alert:
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if self.tracking_lead_distance == 0:
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self.tracking_lead_distance = self.frogpilot_planner.lead_one.dRel
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lead_departing = self.frogpilot_planner.lead_one.dRel - self.tracking_lead_distance > 1
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lead_departing &= self.frogpilot_planner.lead_one.vLead > 1
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if lead_departing:
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self.events.add(EventName.leadDeparting)
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else:
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self.tracking_lead_distance = 0
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if not self.nnff_played and self.startup_seen and sm["controlsState"].alertText1 == "" and len(self.events) == 0 and params.get("NNFFModelName", encoding="utf-8") is not None:
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self.events.add(EventName.torqueNNLoad)
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self.nnff_played = True
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if not self.random_event_playing and frogpilot_toggles.random_events:
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acceleration = sm["carState"].aEgo
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if not sm["carState"].gasPressed:
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self.max_acceleration = max(acceleration, self.max_acceleration)
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else:
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self.max_acceleration = 0
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if not self.accel30_played and 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5:
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self.events.add(EventName.accel30)
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update_wheel_image("weeb_wheel")
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params_memory.put_bool("UpdateWheelImage", True)
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self.accel30_played = True
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self.random_event_playing = True
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self.max_acceleration = 0
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elif not self.accel35_played and 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5:
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self.events.add(EventName.accel35)
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update_wheel_image("tree_fiddy")
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params_memory.put_bool("UpdateWheelImage", True)
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self.accel35_played = True
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self.random_event_playing = True
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self.max_acceleration = 0
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elif not self.accel40_played and self.max_acceleration >= 4.0 and acceleration < 1.5:
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self.events.add(EventName.accel40)
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update_wheel_image("great_scott")
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params_memory.put_bool("UpdateWheelImage", True)
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self.accel40_played = True
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self.random_event_playing = True
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self.max_acceleration = 0
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if not self.dejaVu_played and sm["carState"].vEgo > CRUISING_SPEED * 2 and self.frogpilot_planner.road_curvature_detected:
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if sm["carState"].vEgo > (1 / abs(self.frogpilot_planner.road_curvature))**0.75 * 2 > CRUISING_SPEED * 2 and abs(sm["carState"].steeringAngleDeg) > 30:
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self.events.add(EventName.dejaVuCurve)
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self.dejaVu_played = True
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self.random_event_playing = True
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if not self.no_entry_alert_played and sm["controlsState"].alertType == ET.NO_ENTRY:
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self.events.add(EventName.hal9000)
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self.no_entry_alert_played = True
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self.random_event_playing = True
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saturated_event_names = [EventName.steerSaturated, EventName.goatSteerSaturated]
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saturated_alert_match = any((sm["controlsState"].alertText1, sm["controlsState"].alertText2) == (EVENTS[e][ET.WARNING].alert_text_1, EVENTS[e][ET.WARNING].alert_text_2) for e in saturated_event_names)
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if saturated_alert_match:
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event_choices = []
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if not self.firefox_played:
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event_choices.append("firefoxSteerSaturated")
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if not self.goat_played:
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event_choices.append("goatSteerSaturated")
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if not self.this_is_fine_played:
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event_choices.append("thisIsFineSteerSaturated")
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if event_choices and random.random() < RANDOM_EVENTS_CHANCE:
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event_choice = random.choice(event_choices)
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if event_choice == "firefoxSteerSaturated":
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self.events.add(EventName.firefoxSteerSaturated)
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update_wheel_image("firefox")
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params_memory.put_bool("UpdateWheelImage", True)
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self.firefox_played = True
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elif event_choice == "goatSteerSaturated":
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self.events.add(EventName.goatSteerSaturated)
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update_wheel_image("goat")
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params_memory.put_bool("UpdateWheelImage", True)
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self.goat_played = True
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elif event_choice == "thisIsFineSteerSaturated":
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self.events.add(EventName.thisIsFineSteerSaturated)
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update_wheel_image("this_is_fine")
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params_memory.put_bool("UpdateWheelImage", True)
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self.this_is_fine_played = True
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self.random_event_playing = True
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if not self.vCruise69_played and 70 > max(sm["controlsState"].vCruise, sm["controlsState"].vCruiseCluster) * (1 if frogpilot_toggles.is_metric else CV.KPH_TO_MPH) >= 69:
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self.events.add(EventName.vCruise69)
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self.vCruise69_played = True
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self.random_event_playing = True
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if not self.fcw_played:
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fcw_alert_match = sm["controlsState"].alertText1 == EVENTS[EventName.fcw][ET.PERMANENT].alert_text_1 and sm["controlsState"].alertText2 == EVENTS[EventName.fcw][ET.PERMANENT].alert_text_2
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stock_aeb_alert_match = sm["controlsState"].alertText1 == EVENTS[EventName.stockAeb][ET.PERMANENT].alert_text_1 and sm["controlsState"].alertText2 == EVENTS[EventName.stockAeb][ET.PERMANENT].alert_text_2
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if fcw_alert_match or stock_aeb_alert_match:
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event_choices = []
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event_choices.append("toBeContinued")
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event_choices.append("yourFrogTriedToKillMe")
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event_choice = random.choice(event_choices)
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if event_choice == "toBeContinued":
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self.events.add(EventName.toBeContinued)
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elif event_choice == "yourFrogTriedToKillMe":
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self.events.add(EventName.yourFrogTriedToKillMe)
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self.fcw_played = True
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self.random_event_playing = True
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if not self.youveGotMail_played and sm["frogpilotCarState"].alwaysOnLateralEnabled and not self.always_on_lateral_enabled_previously:
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if random.random() < RANDOM_EVENTS_CHANCE:
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self.events.add(EventName.youveGotMail)
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self.youveGotMail_played = True
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self.random_event_playing = True
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self.always_on_lateral_enabled_previously = sm["frogpilotCarState"].alwaysOnLateralEnabled
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if frogpilot_toggles.speed_limit_changed_alert and self.frogpilot_planner.frogpilot_vcruise.slc.speed_limit_changed_timer == DT_MDL:
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self.events.add(EventName.speedLimitChanged)
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startup_alert_match = sm["controlsState"].alertText1 == frogpilot_toggles.startup_alert_top and sm["controlsState"].alertText2 == frogpilot_toggles.startup_alert_bottom
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self.startup_seen |= startup_alert_match
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if sm["frogpilotCarState"].trafficModeEnabled != self.previous_traffic_mode:
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if self.previous_traffic_mode:
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self.events.add(EventName.trafficModeInactive)
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else:
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self.events.add(EventName.trafficModeActive)
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self.previous_traffic_mode = sm["frogpilotCarState"].trafficModeEnabled
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if sm["modelV2"].meta.turnDirection == Desire.turnLeft:
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self.events.add(EventName.turningLeft)
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elif sm["modelV2"].meta.turnDirection == Desire.turnRight:
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self.events.add(EventName.turningRight)
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