Totally random events

Added toggle to enable a small chance of a random event occuring when certain conditions are met.

cereal/car.capnp

@@ -118,15 +118,19 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdPermanentError @119;
 
     # FrogPilot events
+    firefoxSteerSaturated @120;
     frogSteerSaturated @121;
     greenLight @122;
     laneChangeBlockedLoud @123;
     leadDeparting @124;
     noLaneAvailable @125;
     openpilotCrashed @126;
+    openpilotCrashedRandomEvents @127;
     pedalInterceptorNoBrake @128;
     speedLimitChanged @129;
     torqueNNLoad @130;
+    vCruise69 @133;
+    yourFrogTriedToKillMe @134;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -419,6 +423,12 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+
+      # Random Events
+      angry @9;
+      fart @10;
+      firefox @11;
+      noice @12;
     }
   }
 

common/params.cc

@@ -245,6 +245,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Compass", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
     {"CrosstrekTorque", PERSISTENT},
+    {"CurrentRandomEvent", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomColors", PERSISTENT},
     {"CustomIcons", PERSISTENT},
@@ -346,6 +347,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PromptDistractedVolume", PERSISTENT},
     {"QOLControls", PERSISTENT},
     {"QOLVisuals", PERSISTENT},
+    {"RandomEvents", PERSISTENT},
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
     {"RelaxedJerk", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -181,12 +181,16 @@ class Controls:
     self.frogpilot_variables = SimpleNamespace()
 
     self.driving_gear = False
-    self.previously_enabled = False
+    self.fcw_random_event_triggered = False
     self.openpilot_crashed = False
+    self.previously_enabled = False
+    self.random_event_triggered = False
     self.stopped_for_light_previously = False
+    self.vCruise69_alert_played = False
 
     self.previous_lead_distance = 0
     self.previous_speed_limit = SpeedLimitController.desired_speed_limit
+    self.random_event_timer = 0
     self.speed_limit_changed_timer = 0
 
     self.green_light_mac = MovingAverageCalculator()
@@ -334,6 +338,9 @@ class Controls:
     # Show crash log event if openpilot crashed
     if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
       self.events.add(EventName.openpilotCrashed)
+      if self.random_events and not self.openpilot_crashed:
+        self.events.add(EventName.openpilotCrashedRandomEvents)
+        self.openpilot_crashed = True
       return
 
     # Add joystick event, static on cars, dynamic on nonCars
@@ -537,6 +544,11 @@ 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:
+      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:
@@ -633,6 +645,19 @@ class Controls:
     else:
       self.FPCC.speedLimitChanged = False
 
+    # vCruise set to 69 Random Event alert
+    if self.random_events:
+      conversion = 1 if self.is_metric else CV.KPH_TO_MPH
+      v_cruise = self.v_cruise_helper.v_cruise_cluster_kph if self.v_cruise_helper.v_cruise_cluster_kph != 0.0 else self.v_cruise_helper.v_cruise_kph
+      v_cruise *= conversion
+
+      if 70 > v_cruise >= 69:
+        if not self.vCruise69_alert_played:
+          self.events.add(EventName.vCruise69)
+          self.vCruise69_alert_played = True
+      else:
+        self.vCruise69_alert_played = False
+
   def data_sample(self):
     """Receive data from sockets and update carState"""
 
@@ -793,6 +818,14 @@ class Controls:
     # FrogPilot functions
     frogpilot_plan = self.sm['frogpilotPlan']
 
+    # Reset the Random Event flag
+    if self.random_event_triggered:
+      self.random_event_timer += 1
+      if self.random_event_timer >= 500:
+        self.random_event_triggered = False
+        self.random_event_timer = 0
+        self.params_memory.remove("CurrentRandomEvent")
+
     # Update Experimental Mode
     if self.frogpilot_variables.conditional_experimental_mode:
       self.experimental_mode = frogpilot_plan.conditionalExperimental
@@ -883,8 +916,13 @@ 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.frogSteerSaturated if self.goat_scream else EventName.steerSaturated)
+        if undershooting and turning and good_speed and max_torque and not self.random_event_triggered:
+          if self.sm.frame % 10000 == 0:
+            lac_log.active and self.events.add(EventName.firefoxSteerSaturated)
+            self.params_memory.put_int("CurrentRandomEvent", 1)
+            self.random_event_triggered = True
+          else:
+            lac_log.active and self.events.add(EventName.frogSteerSaturated if self.goat_scream else EventName.steerSaturated)
       elif lac_log.saturated:
         # TODO probably should not use dpath_points but curvature
         dpath_points = model_v2.position.y
@@ -1154,6 +1192,8 @@ class Controls:
     self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
     self.frogpilot_variables.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1 if self.is_metric else CV.MPH_TO_KPH) if quality_of_life else 0
 
+    self.random_events = self.params.get_bool("RandomEvents")
+
     self.speed_limit_controller = self.params.get_bool("SpeedLimitController")
     self.frogpilot_variables.force_mph_dashboard = self.speed_limit_controller and self.params.get_bool("ForceMPHDashboard")
     self.frogpilot_variables.set_speed_limit = self.speed_limit_controller and self.params.get_bool("SetSpeedLimit")

selfdrive/controls/lib/events.py

@@ -1047,6 +1047,39 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   EventName.torqueNNLoad: {
     ET.PERMANENT: torque_nn_load_alert,
   },
+
+  # Random Events
+  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, 4.),
+  },
+
+  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.small,
+      Priority.MID, VisualAlert.none, AudibleAlert.angry, 3.),
+  },
 }
 
 

selfdrive/frogpilot/ui/visual_settings.cc

@@ -53,6 +53,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"HideSpeed", "Hide Speed", "Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself.", ""},
     {"MapStyle", "Map Style", "Use a custom map style to be used for 'Navigate on openpilot'.", ""},
 
+    {"RandomEvents", "Random Events", "Enjoy a bit of unpredictability with random events that can occur during certain driving conditions.", "../frogpilot/assets/toggle_icons/icon_random.png"},
     {"ScreenBrightness", "Screen Brightness", "Customize your screen brightness.", "../frogpilot/assets/toggle_icons/icon_light.png"},
 
     {"WheelIcon", "Steering Wheel Icon", "Replace the default steering wheel icon with a custom design, adding a unique touch to your interface.", "../assets/offroad/icon_openpilot.png"},

selfdrive/ui/qt/onroad.cc

@@ -382,7 +382,8 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
     {3, loadPixmap("../frogpilot/assets/wheel_images/frog.png", {img_size, img_size})},
     {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})}
+    {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})}
   };
 }
 
@@ -411,13 +412,20 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
   }
 
   // FrogPilot variables
+  firefoxRandomEventTriggered = scene.current_random_event == 1;
   rotatingWheel = scene.rotating_wheel;
   wheelIcon = scene.wheel_icon;
 
   y_offset = leadInfo ? 10 : 0;
 
+  if (firefoxRandomEventTriggered) {
+    static int rotationDegree = 0;
+    rotationDegree = (rotationDegree + 36) % 360;
+    steeringAngleDeg = rotationDegree;
+    wheelIcon = 7;
+    update();
   // Update the icon so the steering wheel rotates in real time
-  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+  } else if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
     steeringAngleDeg = scene.steering_angle_deg;
     update();
   }
@@ -437,7 +445,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
       QColor(0, 0, 0, 166);
 
   if (!(scene.show_driver_camera || scene.map_open && scene.full_map)) {
-    if (rotatingWheel) {
+    if (rotatingWheel || firefoxRandomEventTriggered) {
       drawIconRotate(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0, steeringAngleDeg);
     } else {
       drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0);

selfdrive/ui/qt/onroad.h

@@ -80,6 +80,7 @@ private:
 
   std::map<int, QPixmap> wheelImages;
 
+  bool firefoxRandomEventTriggered;
   bool rotatingWheel;
   int steeringAngleDeg;
   int wheelIcon;

selfdrive/ui/soundd.py

@@ -1,5 +1,6 @@
 import math
 import numpy as np
+import os
 import time
 import wave
 
@@ -40,6 +41,12 @@ sound_list: Dict[int, Tuple[str, Optional[int], 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.fart: ("fart.wav", 1, MAX_VOLUME),
+  AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME),
+  AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME),
 }
 
 def check_controls_timeout_alert(sm):
@@ -58,6 +65,8 @@ class Soundd:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    self.random_events_directory = BASEDIR + "/selfdrive/frogpilot/assets/random_events/sounds/"
+
     self.update_frogpilot_params()
 
     self.load_sounds()
@@ -77,7 +86,10 @@ class Soundd:
     for sound in sound_list:
       filename, play_count, volume = sound_list[sound]
 
-      wavefile = wave.open(self.sound_directory + filename, 'r')
+      if os.path.exists(os.path.join(self.random_events_directory, filename)):
+        wavefile = wave.open(self.random_events_directory + filename, 'r')
+      else:
+        wavefile = wave.open(self.sound_directory + filename, 'r')
 
       assert wavefile.getnchannels() == 1
       assert wavefile.getsampwidth() == 2
@@ -160,6 +172,10 @@ class Soundd:
         elif self.alert_volume_control and self.current_alert in self.volume_map:
           self.current_volume = self.volume_map[self.current_alert] / 100.0
 
+        # Increase the volume for Random Events
+        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()
@@ -171,6 +187,13 @@ class Soundd:
           self.update_frogpilot_params()
 
   def update_frogpilot_params(self):
+    self.random_events_map = {
+      AudibleAlert.angry: MAX_VOLUME,
+      AudibleAlert.fart: MAX_VOLUME,
+      AudibleAlert.firefox: MAX_VOLUME,
+      AudibleAlert.noice: MAX_VOLUME,
+    }
+
     self.alert_volume_control = self.params.get_bool("AlertVolumeControl")
 
     self.volume_map = {

selfdrive/ui/ui.cc

@@ -363,6 +363,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0;
 
   scene.personalities_via_screen = params.getBool("PersonalitiesViaScreen") && params.getBool("AdjustablePersonalities");
+  scene.random_events = params.getBool("RandomEvents");
   scene.rotating_wheel = params.getBool("RotatingWheel");
   scene.screen_brightness = params.getInt("ScreenBrightness");
 
@@ -446,6 +447,9 @@ void UIState::update() {
   if (scene.conditional_experimental) {
     scene.conditional_status = paramsMemory.getInt("CEStatus");
   }
+  if (scene.random_events) {
+    scene.current_random_event = paramsMemory.getInt("CurrentRandomEvent");
+  }
 }
 
 void UIState::setPrimeType(PrimeType type) {

selfdrive/ui/ui.h

@@ -81,7 +81,7 @@ struct Alert {
         alert = {"openpilot crashed", "Please post the error log in the FrogPilot Discord!",
                  "controlsWaiting", cereal::ControlsState::AlertSize::MID,
                  cereal::ControlsState::AlertStatus::NORMAL,
-                 AudibleAlert::NONE};
+                 Params().getBool("RandomEvents") ? AudibleAlert::FART : AudibleAlert::NONE};
       } else if (controls_frame < started_frame) {
         // car is started, but controlsState hasn't been seen at all
         alert = {"openpilot Unavailable", "Waiting for controls to start",
@@ -202,6 +202,7 @@ typedef struct UIScene {
   bool numerical_temp;
   bool pedals_on_ui;
   bool personalities_via_screen;
+  bool random_events;
   bool reverse_cruise;
   bool reverse_cruise_ui;
   bool right_hand_drive;
@@ -239,6 +240,7 @@ typedef struct UIScene {
   int conditional_speed;
   int conditional_speed_lead;
   int conditional_status;
+  int current_random_event;
   int custom_colors;
   int custom_icons;
   int custom_signals;