mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-29 18:42:07 +08:00
whoisdomi
78d5f71fed
D2 — update() in starpilot_onroad.cc now only fires when at least one overlay (showBlindspot, showSignal, showSteering, showFPS) is active. ~30–60 wasted repaints/sec eliminated when all overlays are off. E4 — Holiday theme check reordered so current_holiday_theme != "stock" (cheapest) is first. Default is stock, so the rest of the chain never evaluates on a normal non-holiday drive. E7 — paintSteeringTorqueBorder no longer rebuilds the QLinearGradient and computes lighter(120)/setAlpha/5 setColorAt calls every frame. The gradient is now built once in resizeEvent and reused. The per-frame work is now just the two geometry calculations and fillRect. E5/E6/E8 — Audited clean: all remaining params_memory.put calls are event-driven (button presses, random events), no hot-path logging exists in the UI code, and all QTimers are event-driven or single-shot offroad dialogs.
223 lines
10 KiB
Python
223 lines
10 KiB
Python
#!/usr/bin/env python3
|
|
import random
|
|
|
|
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY, CV
|
|
from openpilot.common.realtime import DT_MDL
|
|
from openpilot.selfdrive.controls.lib.desire_helper import TurnDirection
|
|
from openpilot.selfdrive.selfdrived.events import ET, EVENT_NAME, STARPILOT_EVENT_NAME, EventName, StarPilotEventName, Events
|
|
|
|
from openpilot.starpilot.common.starpilot_variables import CRUISING_SPEED, NON_DRIVING_GEARS
|
|
|
|
DEJA_VU_G_FORCE = 0.75
|
|
RANDOM_EVENTS_CHANCE = 0.01 * DT_MDL
|
|
RANDOM_EVENTS_LENGTH = 5
|
|
|
|
RANDOM_EVENT_START = StarPilotEventName.accel30
|
|
RANDOM_EVENT_END = StarPilotEventName.youveGotMail
|
|
|
|
class StarPilotEvents:
|
|
def __init__(self, StarPilotPlanner, error_log, ThemeManager):
|
|
self.starpilot_planner = StarPilotPlanner
|
|
self.theme_manager = ThemeManager
|
|
|
|
self.events = Events(starpilot=True)
|
|
|
|
self.always_on_lateral_allowed_previously = False
|
|
self.previous_traffic_mode = False
|
|
self.previous_switchback_mode = False
|
|
self.random_event_playing = False
|
|
self.startup_seen = False
|
|
self.stopped_for_light = False
|
|
|
|
self.max_acceleration = 0
|
|
self.random_event_timer = 0
|
|
self.tracked_lead_distance = 0
|
|
|
|
self.played_events = set()
|
|
|
|
self.error_log = error_log
|
|
|
|
def update(self, long_control_active, v_cruise, sm, starpilot_toggles):
|
|
current_alert = sm["selfdriveState"].alertType
|
|
current_starpilot_alert = sm["selfdriveState"].alertType
|
|
switchback_mode_enabled = self.starpilot_planner.params_memory.get_bool("SwitchbackModeEnabled")
|
|
|
|
alerts_empty = (sm["selfdriveState"].alertText1 == "" and sm["selfdriveState"].alertText2 == "" and
|
|
sm["starpilotSelfdriveState"].alertText1 == "" and sm["starpilotSelfdriveState"].alertText2 == "")
|
|
|
|
self.events.clear()
|
|
|
|
if not sm["deviceState"].started:
|
|
self.previous_switchback_mode = False
|
|
self.previous_traffic_mode = False
|
|
|
|
acceleration = sm["carControl"].actuators.accel
|
|
|
|
if long_control_active:
|
|
self.max_acceleration = max(acceleration, self.max_acceleration)
|
|
else:
|
|
self.max_acceleration = 0
|
|
|
|
if sm["starpilotCarState"].alwaysOnLateralAllowed != self.always_on_lateral_allowed_previously:
|
|
if sm["starpilotCarState"].alwaysOnLateralAllowed:
|
|
self.events.add(StarPilotEventName.lkasEnable)
|
|
else:
|
|
self.events.add(StarPilotEventName.lkasDisable)
|
|
|
|
if self.starpilot_planner.starpilot_vcruise.forcing_stop:
|
|
self.events.add(StarPilotEventName.forcingStop)
|
|
|
|
if not self.starpilot_planner.tracking_lead and sm["carState"].standstill and sm["carState"].gearShifter not in NON_DRIVING_GEARS:
|
|
if not self.starpilot_planner.model_stopped and self.stopped_for_light and starpilot_toggles.green_light_alert:
|
|
self.events.add(StarPilotEventName.greenLight)
|
|
|
|
self.stopped_for_light = self.starpilot_planner.starpilot_cem.stop_light_detected
|
|
else:
|
|
self.stopped_for_light = False
|
|
|
|
if starpilot_toggles.current_holiday_theme != "stock" and "holidayActive" not in self.played_events and self.startup_seen and alerts_empty and len(self.events) == 0:
|
|
self.events.add(StarPilotEventName.holidayActive)
|
|
|
|
if self.starpilot_planner.tracking_lead and sm["carState"].standstill and sm["carState"].gearShifter not in NON_DRIVING_GEARS:
|
|
if self.tracked_lead_distance == 0:
|
|
self.tracked_lead_distance = self.starpilot_planner.lead_one.dRel
|
|
|
|
lead_departing = self.starpilot_planner.lead_one.dRel - self.tracked_lead_distance >= 1
|
|
lead_departing &= self.starpilot_planner.lead_one.vLead >= 1
|
|
|
|
if lead_departing and starpilot_toggles.lead_departing_alert:
|
|
self.events.add(StarPilotEventName.leadDeparting)
|
|
else:
|
|
self.tracked_lead_distance = 0
|
|
|
|
if starpilot_toggles.nnff and "nnffLoaded" not in self.played_events and self.startup_seen and alerts_empty and len(self.events) == 0 and self.starpilot_planner.params.get("NNFFModelName") is not None:
|
|
self.events.add(StarPilotEventName.nnffLoaded)
|
|
|
|
if self.random_event_playing:
|
|
self.random_event_timer += DT_MDL
|
|
|
|
if self.random_event_timer >= RANDOM_EVENTS_LENGTH:
|
|
self.theme_manager.update_wheel_image(starpilot_toggles.wheel_image)
|
|
self.starpilot_planner.params_memory.put_bool("UpdateWheelImage", True)
|
|
|
|
self.random_event_playing = False
|
|
self.random_event_timer = 0
|
|
|
|
if not self.random_event_playing and starpilot_toggles.random_events:
|
|
if "accel30" not in self.played_events and 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5:
|
|
self.events.add(StarPilotEventName.accel30)
|
|
|
|
self.theme_manager.update_wheel_image("accel30", random_event=True)
|
|
self.starpilot_planner.params_memory.put_bool("UpdateWheelImage", True)
|
|
|
|
self.max_acceleration = 0
|
|
|
|
elif "accel35" not in self.played_events and 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5:
|
|
self.events.add(StarPilotEventName.accel35)
|
|
|
|
self.theme_manager.update_wheel_image("accel35", random_event=True)
|
|
self.starpilot_planner.params_memory.put_bool("UpdateWheelImage", True)
|
|
|
|
self.max_acceleration = 0
|
|
|
|
elif "accel40" not in self.played_events and self.max_acceleration >= 4.0 and acceleration < 1.5:
|
|
self.events.add(StarPilotEventName.accel40)
|
|
|
|
self.theme_manager.update_wheel_image("accel40", random_event=True)
|
|
self.starpilot_planner.params_memory.put_bool("UpdateWheelImage", True)
|
|
|
|
self.max_acceleration = 0
|
|
|
|
if "dejaVuCurve" not in self.played_events and sm["carState"].vEgo > CRUISING_SPEED:
|
|
if self.starpilot_planner.lateral_acceleration >= DEJA_VU_G_FORCE * ACCELERATION_DUE_TO_GRAVITY:
|
|
self.events.add(StarPilotEventName.dejaVuCurve)
|
|
|
|
if "hal9000" not in self.played_events and (ET.NO_ENTRY in current_alert or ET.NO_ENTRY in current_starpilot_alert):
|
|
self.events.add(StarPilotEventName.hal9000)
|
|
|
|
if f"{EVENT_NAME[EventName.steerSaturated]}/" in current_alert or f"{STARPILOT_EVENT_NAME[StarPilotEventName.goatSteerSaturated]}/" in current_starpilot_alert:
|
|
event_choices = []
|
|
if "firefoxSteerSaturated" not in self.played_events:
|
|
event_choices.append("firefoxSteerSaturated")
|
|
if "goatSteerSaturated" not in self.played_events:
|
|
event_choices.append("goatSteerSaturated")
|
|
if "thisIsFineSteerSaturated" not in self.played_events:
|
|
event_choices.append("thisIsFineSteerSaturated")
|
|
|
|
if event_choices and random.random() < RANDOM_EVENTS_CHANCE:
|
|
event_choice = random.choice(event_choices)
|
|
|
|
if event_choice == "firefoxSteerSaturated":
|
|
self.events.add(StarPilotEventName.firefoxSteerSaturated)
|
|
|
|
self.theme_manager.update_wheel_image("firefoxSteerSaturated", random_event=True)
|
|
self.starpilot_planner.params_memory.put_bool("UpdateWheelImage", True)
|
|
elif event_choice == "goatSteerSaturated":
|
|
self.events.add(StarPilotEventName.goatSteerSaturated)
|
|
|
|
self.theme_manager.update_wheel_image("goatSteerSaturated", random_event=True)
|
|
self.starpilot_planner.params_memory.put_bool("UpdateWheelImage", True)
|
|
elif event_choice == "thisIsFineSteerSaturated":
|
|
self.events.add(StarPilotEventName.thisIsFineSteerSaturated)
|
|
|
|
self.theme_manager.update_wheel_image("thisIsFineSteerSaturated", random_event=True)
|
|
self.starpilot_planner.params_memory.put_bool("UpdateWheelImage", True)
|
|
|
|
if "vCruise69" not in self.played_events and 70 > max(sm["carState"].vCruise, sm["carState"].vCruiseCluster) * (1 if starpilot_toggles.is_metric else CV.KPH_TO_MPH) >= 69:
|
|
self.events.add(StarPilotEventName.vCruise69)
|
|
|
|
if f"{EVENT_NAME[EventName.fcw]}/" in current_alert or f"{EVENT_NAME[EventName.stockAeb]}/" in current_alert:
|
|
event_choices = []
|
|
if "toBeContinued" not in self.played_events:
|
|
event_choices.append("toBeContinued")
|
|
if "yourFrogTriedToKillMe" not in self.played_events:
|
|
event_choices.append("yourFrogTriedToKillMe")
|
|
|
|
if event_choices:
|
|
event_choice = random.choice(event_choices)
|
|
if event_choice == "toBeContinued":
|
|
self.events.add(StarPilotEventName.toBeContinued)
|
|
elif event_choice == "yourFrogTriedToKillMe":
|
|
self.events.add(StarPilotEventName.yourFrogTriedToKillMe)
|
|
|
|
if "youveGotMail" not in self.played_events and sm["starpilotCarState"].alwaysOnLateralAllowed and not self.always_on_lateral_allowed_previously:
|
|
if random.random() < RANDOM_EVENTS_CHANCE / DT_MDL:
|
|
self.events.add(StarPilotEventName.youveGotMail)
|
|
|
|
self.random_event_playing |= bool({event for event in self.events.names if RANDOM_EVENT_START <= event <= RANDOM_EVENT_END})
|
|
|
|
if self.error_log.is_file():
|
|
if starpilot_toggles.random_events:
|
|
self.events.add(StarPilotEventName.openpilotCrashedRandomEvent)
|
|
else:
|
|
self.events.add(StarPilotEventName.openpilotCrashed)
|
|
|
|
if self.starpilot_planner.starpilot_vcruise.slc.speed_limit_changed_timer == DT_MDL and starpilot_toggles.speed_limit_changed_alert:
|
|
self.events.add(StarPilotEventName.speedLimitChanged)
|
|
|
|
self.startup_seen |= sm["starpilotSelfdriveState"].alertText1 == starpilot_toggles.startup_alert_top and sm["starpilotSelfdriveState"].alertText2 == starpilot_toggles.startup_alert_bottom
|
|
|
|
if sm["starpilotCarState"].trafficModeEnabled != self.previous_traffic_mode:
|
|
if self.previous_traffic_mode:
|
|
self.events.add(StarPilotEventName.trafficModeInactive)
|
|
else:
|
|
self.events.add(StarPilotEventName.trafficModeActive)
|
|
|
|
self.previous_traffic_mode = sm["starpilotCarState"].trafficModeEnabled
|
|
|
|
if switchback_mode_enabled != self.previous_switchback_mode:
|
|
if self.previous_switchback_mode:
|
|
self.events.add(StarPilotEventName.switchbackModeInactive)
|
|
else:
|
|
self.events.add(StarPilotEventName.switchbackModeActive)
|
|
|
|
self.previous_switchback_mode = switchback_mode_enabled
|
|
|
|
if sm["starpilotModelV2"].turnDirection == TurnDirection.turnLeft:
|
|
self.events.add(StarPilotEventName.turningLeft)
|
|
elif sm["starpilotModelV2"].turnDirection == TurnDirection.turnRight:
|
|
self.events.add(StarPilotEventName.turningRight)
|
|
|
|
self.always_on_lateral_allowed_previously = sm["starpilotCarState"].alwaysOnLateralAllowed
|
|
self.played_events.update(STARPILOT_EVENT_NAME[event] for event in self.events.names)
|