Lead departing alert

Added toggle to enable an alert when the lead vehicle starts to depart.

cereal/car.capnp

@@ -122,6 +122,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     goatSteerSaturated @125;
     greenLight @126;
     holidayActive @127;
+    leadDeparting @129;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;

common/params.cc

@@ -292,6 +292,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IncreaseThermalLimits", PERSISTENT},
     {"LaneLinesWidth", PERSISTENT},
     {"LateralTune", PERSISTENT},
+    {"LeadDepartingAlert", PERSISTENT},
     {"LeadInfo", PERSISTENT},
     {"LongitudinalTune", PERSISTENT},
     {"LongPitch", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -186,6 +186,8 @@ class Controls:
     self.holiday_theme_alerted = False
     self.previously_enabled = False
 
+    self.previous_lead_distance = 0
+
     self.green_light_mac = MovingAverageCalculator()
 
     self.update_frogpilot_params()
@@ -912,6 +914,20 @@ class Controls:
       self.events.add(EventName.holidayActive)
       self.holiday_theme_alerted = True
 
+    if self.lead_departing_alert and self.sm.frame % 50 == 0:
+      lead = self.sm['radarState'].leadOne
+      lead_distance = lead.dRel
+
+      lead_departing = lead_distance - self.previous_lead_distance > 0.5 and self.previous_lead_distance != 0 and CS.standstill
+      self.previous_lead_distance = lead_distance
+
+      lead_departing &= not CS.gasPressed
+      lead_departing &= lead.vLead > 1
+      lead_departing &= self.driving_gear
+
+      if lead_departing:
+        self.events.add(EventName.leadDeparting)
+
   def update_frogpilot_variables(self, CS):
     self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
 
@@ -950,6 +966,7 @@ class Controls:
 
     custom_alerts = self.params.get_bool("CustomAlerts")
     self.green_light_alert = custom_alerts and self.params.get_bool("GreenLightAlert")
+    self.lead_departing_alert = custom_alerts and self.params.get_bool("LeadDepartingAlert")
 
     custom_theme = self.params.get_bool("CustomTheme")
     custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0

selfdrive/controls/lib/events.py

@@ -1010,6 +1010,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   EventName.holidayActive: {
     ET.PERMANENT: holiday_alert,
   },
+
+  EventName.leadDeparting: {
+    ET.PERMANENT: Alert(
+      "Lead departed",
+      "",
+      AlertStatus.frogpilot, AlertSize.small,
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
+  },
 }
 
 

selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc

@@ -16,6 +16,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
 
     {"CustomAlerts", tr("Custom Alerts"), tr("Enable custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"},
     {"GreenLightAlert", tr("Green Light Alert"), tr("Get an alert when a traffic light changes from red to green."), ""},
+    {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Get an alert when the lead vehicle starts departing when at a standstill."), ""},
 
     {"CustomUI", tr("Custom Onroad UI"), tr("Customize the Onroad UI."), "../assets/offroad/icon_road.png"},
     {"DeveloperUI", tr("Developer UI"), tr("Get various detailed information of what openpilot is doing behind the scenes."), ""},

selfdrive/frogpilot/ui/qt/offroad/visual_settings.h

@@ -24,7 +24,7 @@ private:
   void updateToggles();
 
   std::set<QString> alertVolumeControlKeys = {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"};
-  std::set<QString> customAlertsKeys = {"GreenLightAlert"};
+  std::set<QString> customAlertsKeys = {"GreenLightAlert", "LeadDepartingAlert"};
   std::set<QString> customOnroadUIKeys = {"CustomPaths", "DeveloperUI", "FPSCounter", "LeadInfo"};
   std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "HolidayThemes"};
   std::set<QString> modelUIKeys = {"DynamicPathWidth", "HideLeadMarker", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};