mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-04 13:02:09 +08:00
James
69 lines
2.8 KiB
Python
69 lines
2.8 KiB
Python
#!/usr/bin/env python3
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from openpilot.selfdrive.selfdrived.events import ET, EVENT_NAME, FROGPILOT_EVENT_NAME, EventName, FrogPilotEventName, Events
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from openpilot.frogpilot.common.frogpilot_variables import NON_DRIVING_GEARS
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class FrogPilotEvents:
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def __init__(self, FrogPilotPlanner, error_log):
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self.frogpilot_planner = FrogPilotPlanner
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self.events = Events(frogpilot=True)
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self.startup_seen = False
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self.stopped_for_light = False
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self.max_acceleration = 0
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self.tracked_lead_distance = 0
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self.played_events = set()
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self.error_log = error_log
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def update(self, v_cruise, sm, frogpilot_toggles):
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current_alert = sm["selfdriveState"].alertType
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current_frogpilot_alert = sm["selfdriveState"].alertType
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alerts_empty = all(sm[state].alertText1 == "" and sm[state].alertText2 == "" for state in ["selfdriveState", "frogpilotSelfdriveState"])
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self.events.clear()
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acceleration = sm["carState"].aEgo
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if not sm["carState"].gasPressed:
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self.max_acceleration = max(acceleration, self.max_acceleration)
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else:
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self.max_acceleration = 0
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if self.frogpilot_planner.frogpilot_vcruise.forcing_stop:
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self.events.add(FrogPilotEventName.forcingStop)
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if not self.frogpilot_planner.tracking_lead and sm["carState"].standstill and sm["carState"].gearShifter not in NON_DRIVING_GEARS:
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if not self.frogpilot_planner.model_stopped and self.stopped_for_light and frogpilot_toggles.green_light_alert:
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self.events.add(FrogPilotEventName.greenLight)
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self.stopped_for_light = self.frogpilot_planner.frogpilot_cem.stop_light_detected
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else:
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self.stopped_for_light = False
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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":
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self.events.add(FrogPilotEventName.holidayActive)
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if self.frogpilot_planner.tracking_lead and sm["carState"].standstill and sm["carState"].gearShifter not in NON_DRIVING_GEARS:
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if self.tracked_lead_distance == 0:
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self.tracked_lead_distance = self.frogpilot_planner.lead_one.dRel
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lead_departing = self.frogpilot_planner.lead_one.dRel - self.tracked_lead_distance >= 1
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lead_departing &= self.frogpilot_planner.lead_one.vLead >= 1
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if lead_departing and frogpilot_toggles.lead_departing_alert:
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self.events.add(FrogPilotEventName.leadDeparting)
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else:
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self.tracked_lead_distance = 0
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if self.error_log.is_file():
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self.events.add(FrogPilotEventName.openpilotCrashed)
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self.startup_seen |= sm["frogpilotSelfdriveState"].alertText1 == frogpilot_toggles.startup_alert_top and sm["frogpilotSelfdriveState"].alertText2 == frogpilot_toggles.startup_alert_bottom
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self.played_events.update(FROGPILOT_EVENT_NAME[event] for event in self.events.names)
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