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
@@ -73,16 +74,21 @@ class Controls:
     self.frogpilot_toggles = FrogPilotVariables.toggles
 
     self.drive_added = False
+    self.fcw_random_event_triggered = False
     self.holiday_theme_alerted = False
     self.onroad_distance_pressed = False
     self.openpilot_crashed_triggered = False
     self.previously_enabled = False
+    self.random_event_triggered = False
     self.speed_check = False
 
     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
 
     self.green_light_mac = MovingAverageCalculator()
@@ -415,6 +421,10 @@ class Controls:
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
     if planner_fcw or model_fcw:
       self.events.add(EventName.fcw)
+      self.fcw_random_event_triggered = True
+    elif self.fcw_random_event_triggered and self.frogpilot_toggles.random_events:
+      self.events.add(EventName.yourFrogTriedToKillMe)
+      self.fcw_random_event_triggered = False
 
     for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
       try:
@@ -673,8 +683,18 @@ class Controls:
         turning = abs(lac_log.desiredLateralAccel) > 1.0
         good_speed = CS.vEgo > 5
         max_torque = abs(self.last_actuators.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
@@ -936,7 +956,10 @@ class Controls:
       self.events.add(EventName.blockUser)
 
     if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')) and not self.openpilot_crashed_triggered:
-      self.events.add(EventName.openpilotCrashed)
+      if self.frogpilot_toggles.random_events:
+        self.events.add(EventName.openpilotCrashedRandomEvents)
+      else:
+        self.events.add(EventName.openpilotCrashed)
       self.openpilot_crashed_triggered = True
 
     if self.frogpilot_toggles.green_light_alert:
@@ -957,6 +980,45 @@ class Controls:
     if self.frogpilot_toggles.lead_departing_alert and self.sm['frogpilotPlan'].leadDeparting:
       self.events.add(EventName.leadDeparting)
 
+    if self.frogpilot_toggles.random_events:
+      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
+
+      conversion = 1 if self.is_metric else CV.KPH_TO_MPH
+      v_cruise = max(self.v_cruise_helper.v_cruise_cluster_kph, self.v_cruise_helper.v_cruise_kph) * conversion
+
+      if 70 > v_cruise >= 69:
+        if self.sm.frame % 25 == 0:
+          if v_cruise == self.previous_v_cruise and not self.vCruise69_alert_played:
+            self.events.add(EventName.vCruise69)
+            self.vCruise69_alert_played = True
+          self.previous_v_cruise = v_cruise
+      else:
+        self.vCruise69_alert_played = False
+        self.previous_v_cruise = v_cruise
+
     if self.frogpilot_toggles.speed_limit_alert or self.frogpilot_toggles.speed_limit_confirmation:
       current_speed_limit = self.sm['frogpilotPlan'].slcSpeedLimit
       desired_speed_limit = self.sm['frogpilotPlan'].unconfirmedSlcSpeedLimit
@@ -1058,6 +1120,13 @@ class Controls:
     self.previously_enabled |= (self.enabled or self.FPCC.alwaysOnLateral) and CS.vEgo > CRUISING_SPEED
     self.previously_enabled &= self.driving_gear
 
+    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")
+
     signal_check = CS.vEgo >= self.frogpilot_toggles.pause_lateral_below_speed or not (CS.leftBlinker or CS.rightBlinker) or CS.standstill
     self.speed_check = CS.vEgo >= self.frogpilot_toggles.pause_lateral_below_speed or CS.standstill or signal_check and self.frogpilot_toggles.pause_lateral_below_signal
 

selfdrive/controls/lib/events.py

@@ -1097,6 +1097,63 @@ 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.firefoxSteerSaturated: {
+    ET.WARNING: Alert(
+      "Turn Exceeds Steering Limit",
+      "IE Has Stopped Responding...",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.firefox, 4.),
+  },
+
+  EventName.openpilotCrashedRandomEvents: {
+    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/ui/qt/onroad.cc

@@ -33,6 +33,18 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
   p.restore();
 }
 
+static 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);
+}
+
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
   main_layout->setMargin(UI_BORDER_SIZE);
@@ -296,7 +308,12 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
     {4, loadPixmap("../frogpilot/assets/wheel_images/rocket.png", {img_size, img_size})},
     {5, loadPixmap("../frogpilot/assets/wheel_images/hyundai.png", {img_size, img_size})},
     {6, loadPixmap("../frogpilot/assets/wheel_images/stalin.png", {img_size, img_size})},
+    {7, loadPixmap("../frogpilot/assets/random_events/images/firefox.png", {img_size, img_size})},
   };
+
+  wheelImagesGif[1] = new QMovie("../frogpilot/assets/random_events/images/weeb_wheel.gif", QByteArray(), this);
+  wheelImagesGif[2] = new QMovie("../frogpilot/assets/random_events/images/tree_fiddy.gif", QByteArray(), this);
+  wheelImagesGif[3] = new QMovie("../frogpilot/assets/random_events/images/great_scott.gif", QByteArray(), this);
 }
 
 void ExperimentalButton::changeMode() {
@@ -322,10 +339,39 @@ void ExperimentalButton::updateState(const UIState &s) {
   }
 
   // FrogPilot variables
+  int randomEvent = scene.current_random_event;
+
   rotatingWheel = scene.rotating_wheel;
   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) {
+    static int rotationDegree = 0;
+    rotationDegree = (rotationDegree + 36) % 360;
+    steeringAngleDeg = rotationDegree;
+    wheelIcon = 7;
+    update();
+
+  } else if (randomEvent == 2 || randomEvent == 3 || randomEvent == 4) {
+    if (!gifLabel) {
+      gifLabel = new QLabel(this);
+      QMovie *movie = wheelImagesGif[randomEvent - 1];
+      if (movie) {
+        gifLabel->setMovie(movie);
+        gifLabel->setFixedSize(img_size, img_size);
+        gifLabel->move((width() - gifLabel->width()) / 2, (height() - gifLabel->height()) / 2);
+        gifLabel->movie()->start();
+      }
+    }
+    gifLabel->show();
+    wheelIconGif = randomEvent - 1;
+    update();
+
+  } else if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+    steeringAngleDeg = scene.steering_angle_deg;
     update();
     steeringAngleDeg = scene.steering_angle_deg;
   } else if (!rotatingWheel) {
@@ -341,6 +387,7 @@ 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 ?
     (scene.always_on_lateral_active ? bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE] :
@@ -350,7 +397,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
     (scene.navigate_on_openpilot ? 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);
+  }
 }
 
 

selfdrive/ui/qt/onroad.h

@@ -2,6 +2,8 @@
 
 #include <memory>
 
+#include <QMovie>
+#include <QLabel>
 #include <QPushButton>
 #include <QStackedLayout>
 #include <QWidget>
@@ -106,11 +108,20 @@ private:
   UIScene &scene;
 
   QMap<int, QPixmap> wheelImages;
+  QMap<int, QMovie*> wheelImagesGif;
 
+  QMovie engage_gif;
+  QLabel *gifLabel;
+
+  bool docRandomEventTriggered;
+  bool firefoxRandomEventTriggered;
   bool rotatingWheel;
+  bool treeFiddyRandomEventTriggered;
+  bool weebRandomEventTriggered;
 
   int steeringAngleDeg;
   int wheelIcon;
+  int wheelIconGif;
 };
 
 

selfdrive/ui/soundd.py

@@ -42,6 +42,15 @@ 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.doc: ("doc.wav", 1, MAX_VOLUME),
+  AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME),
+  AudibleAlert.firefox: ("firefox.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),
 }
@@ -70,6 +79,18 @@ 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.doc: MAX_VOLUME,
+      AudibleAlert.fart: MAX_VOLUME,
+      AudibleAlert.firefox: MAX_VOLUME,
+      AudibleAlert.goat: MAX_VOLUME,
+      AudibleAlert.nessie: MAX_VOLUME,
+      AudibleAlert.noice: MAX_VOLUME,
+      AudibleAlert.uwu: MAX_VOLUME,
+    }
 
     self.update_frogpilot_sounds()
 
@@ -80,12 +101,15 @@ 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
@@ -171,6 +195,9 @@ 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

@@ -321,6 +321,7 @@ void ui_update_frogpilot_params(UIState *s) {
   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");
@@ -419,6 +420,7 @@ void UIState::update() {
   // FrogPilot live variables that need to be constantly checked
   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;
 }
 
 void UIState::setPrimeType(PrimeType type) {

selfdrive/ui/ui.h

@@ -208,6 +208,7 @@ typedef struct UIScene {
   bool onroad_distance_button;
   bool parked;
   bool pedals_on_ui;
+  bool random_events;
   bool reverse_cruise;
   bool reverse_cruise_ui;
   bool right_hand_drive;
@@ -247,6 +248,7 @@ 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;