#!/usr/bin/env python3 import random from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.controls.controlsd import Desire from openpilot.selfdrive.controls.lib.events import EventName, Events from openpilot.selfdrive.frogpilot.assets.theme_manager import update_wheel_image from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, params, params_memory RANDOM_EVENTS_CHANCE = 0.01 * DT_MDL class FrogPilotEvents: def __init__(self, FrogPilotPlanner): self.frogpilot_planner = FrogPilotPlanner self.events = Events() self.accel30_played = False self.accel35_played = False self.accel40_played = False self.always_on_lateral_active_previously = False self.dejaVu_played = False self.fcw_played = False self.firefox_played = False self.goat_played = False self.holiday_theme_played = False self.no_entry_alert_played = False self.openpilot_crashed_played = False self.previous_traffic_mode = False self.random_event_played = False self.stopped_for_light = False self.this_is_fine_played = False self.vCruise69_played = False self.youveGotMail_played = False self.frame = 0 self.holiday_theme_frame = 0 self.max_acceleration = 0 self.random_event_timer = 0 self.tracking_lead_distance = 0 def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, lead_distance, modelData, v_lead, frogpilot_toggles): self.events.clear() if self.random_event_played: self.random_event_timer += DT_MDL if self.random_event_timer >= 4: update_wheel_image(frogpilot_toggles.wheel_image, frogpilot_toggles.current_holiday_theme, False) params_memory.put_bool("UpdateWheelImage", True) self.random_event_played = False self.random_event_timer = 0 if self.frogpilot_planner.frogpilot_vcruise.forcing_stop: self.events.add(EventName.forcingStop) if frogpilot_toggles.green_light_alert and not self.frogpilot_planner.tracking_lead and carState.standstill: if not self.frogpilot_planner.model_stopped and self.stopped_for_light: self.events.add(EventName.greenLight) self.stopped_for_light = self.frogpilot_planner.cem.stop_light_detected else: self.stopped_for_light = False if not self.holiday_theme_played and frogpilot_toggles.current_holiday_theme != "stock" and self.frame >= 10: if self.holiday_theme_frame >= 1: self.events.add(EventName.holidayActive) self.holiday_theme_played = True self.holiday_theme_frame += DT_MDL if frogpilot_toggles.lead_departing_alert and self.frogpilot_planner.tracking_lead and carState.standstill: if self.tracking_lead_distance == 0: self.tracking_lead_distance = lead_distance lead_departing = lead_distance - self.tracking_lead_distance > 1 lead_departing &= v_lead > 1 if lead_departing: self.events.add(EventName.leadDeparting) else: self.tracking_lead_distance = 0 if not self.openpilot_crashed_played and self.frogpilot_planner.error_log.is_file(): if frogpilot_toggles.random_events: self.events.add(EventName.openpilotCrashedRandomEvent) else: self.events.add(EventName.openpilotCrashed) self.openpilot_crashed_played = True if not self.random_event_played and frogpilot_toggles.random_events: acceleration = carState.aEgo if not carState.gasPressed: self.max_acceleration = max(acceleration, self.max_acceleration) else: self.max_acceleration = 0 if not self.accel30_played and 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5: self.events.add(EventName.accel30) update_wheel_image("weeb_wheel") params_memory.put_bool("UpdateWheelImage", True) self.accel30_played = True self.random_event_played = True self.max_acceleration = 0 elif not self.accel35_played and 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5: self.events.add(EventName.accel35) update_wheel_image("tree_fiddy") params_memory.put_bool("UpdateWheelImage", True) self.accel35_played = True self.random_event_played = True self.max_acceleration = 0 elif not self.accel40_played and self.max_acceleration >= 4.0 and acceleration < 1.5: self.events.add(EventName.accel40) update_wheel_image("great_scott") params_memory.put_bool("UpdateWheelImage", True) self.accel40_played = True self.random_event_played = True self.max_acceleration = 0 if not self.dejaVu_played and carState.vEgo > CRUISING_SPEED * 2: if carState.vEgo > (1 / self.frogpilot_planner.road_curvature)**0.75 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30: self.events.add(EventName.dejaVuCurve) self.dejaVu_played = True self.random_event_played = True if not self.no_entry_alert_played and frogpilotCarControl.noEntryEventTriggered: self.events.add(EventName.hal9000) self.no_entry_alert_played = True self.random_event_played = True if frogpilotCarControl.steerSaturatedEventTriggered: event_choices = [] if not self.firefox_played: event_choices.append("firefoxSteerSaturated") if not self.goat_played: event_choices.append("goatSteerSaturated") if not self.this_is_fine_played: event_choices.append("thisIsFineSteerSaturated") if random.random() < RANDOM_EVENTS_CHANCE and event_choices: event_choice = random.choice(event_choices) if event_choice == "firefoxSteerSaturated": self.events.add(EventName.firefoxSteerSaturated) update_wheel_image("firefox") params_memory.put_bool("UpdateWheelImage", True) self.firefox_played = True elif event_choice == "goatSteerSaturated": self.events.add(EventName.goatSteerSaturated) update_wheel_image("goat") params_memory.put_bool("UpdateWheelImage", True) self.goat_played = True elif event_choice == "thisIsFineSteerSaturated": self.events.add(EventName.thisIsFineSteerSaturated) update_wheel_image("this_is_fine") params_memory.put_bool("UpdateWheelImage", True) self.this_is_fine_played = True self.random_event_played = True if not self.vCruise69_played and 70 > max(controlsState.vCruise, controlsState.vCruiseCluster) * (1 if frogpilot_toggles.is_metric else CV.KPH_TO_MPH) >= 69: self.events.add(EventName.vCruise69) self.vCruise69_played = True self.random_event_played = True if not self.fcw_played and frogpilotCarControl.fcwEventTriggered: event_choices = ["toBeContinued", "yourFrogTriedToKillMe"] if random.random() < RANDOM_EVENTS_CHANCE: event_choice = random.choice(event_choices) if event_choice == "toBeContinued": self.events.add(EventName.toBeContinued) elif event_choice == "yourFrogTriedToKillMe": self.events.add(EventName.yourFrogTriedToKillMe) self.fcw_played = True self.random_event_played = True if not self.youveGotMail_played and frogpilotCarControl.alwaysOnLateralActive and not self.always_on_lateral_active_previously: if random.random() < RANDOM_EVENTS_CHANCE and not carState.standstill: self.events.add(EventName.youveGotMail) self.youveGotMail_played = True self.random_event_played = True self.always_on_lateral_active_previously = frogpilotCarControl.alwaysOnLateralActive if frogpilot_toggles.speed_limit_changed_alert and self.frogpilot_planner.frogpilot_vcruise.slc.speed_limit_changed and self.frogpilot_planner.frogpilot_vcruise.speed_limit_timer < 1: self.events.add(EventName.speedLimitChanged) if 5 > self.frame > 4 and params.get("NNFFModelName", encoding='utf-8') is not None: self.events.add(EventName.torqueNNLoad) if frogpilotCarState.trafficModeActive != self.previous_traffic_mode: if self.previous_traffic_mode: self.events.add(EventName.trafficModeInactive) else: self.events.add(EventName.trafficModeActive) self.previous_traffic_mode = frogpilotCarState.trafficModeActive if modelData.meta.turnDirection == Desire.turnLeft: self.events.add(EventName.turningLeft) elif modelData.meta.turnDirection == Desire.turnRight: self.events.add(EventName.turningRight) self.frame += DT_MDL