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Lead Departing Alert

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent dd47d0f413
commit 40b5e24b1b
2 changed files with 21 additions and 0 deletions
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frogpilot/controls/lib/frogpilot_events.py
+13
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@@ -13,6 +13,7 @@ class FrogPilotEvents:
self.stopped_for_light = False
self.max_acceleration = 0
self.tracked_lead_distance = 0
self.played_events = set()
@@ -47,6 +48,18 @@ class FrogPilotEvents:
if "holidayActive" not in self.played_events and self.startup_seen and alerts_empty and len(self.events) == 0 and frogpilot_toggles.current_holiday_theme != "stock":
self.events.add(FrogPilotEventName.holidayActive)
if self.frogpilot_planner.tracking_lead and sm["carState"].standstill and sm["carState"].gearShifter not in NON_DRIVING_GEARS:
if self.tracked_lead_distance == 0:
self.tracked_lead_distance = self.frogpilot_planner.lead_one.dRel
lead_departing = self.frogpilot_planner.lead_one.dRel - self.tracked_lead_distance >= 1
lead_departing &= self.frogpilot_planner.lead_one.vLead >= 1
if lead_departing and frogpilot_toggles.lead_departing_alert:
self.events.add(FrogPilotEventName.leadDeparting)
else:
self.tracked_lead_distance = 0
if self.error_log.is_file():
self.events.add(FrogPilotEventName.openpilotCrashed)