goat

common/params_keys.h

@@ -271,6 +271,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"StarPilotTogglesUpdated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"FrogsGoMoosTweak", {PERSISTENT, BOOL, "1", "0", 2}},
     {"GoatScream", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"GoatScreamCriticalAlerts", {PERSISTENT, BOOL, "0", "0", 1}},
     {"GreenLightAlert", {PERSISTENT, BOOL, "0", "0", 0}},
     {"HideAlerts", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HideLeadMarker", {PERSISTENT, BOOL, "0", "0", 2}},

selfdrive/ui/layouts/settings/starpilot/sounds.py

@@ -27,6 +27,7 @@ class StarPilotSoundsLayout(StarPilotPanel):
   ]
   CUSTOM_ALERTS_KEYS = [
     "GoatScream",
+    "GoatScreamCriticalAlerts",
     "GreenLightAlert",
     "LeadDepartingAlert",
     "LoudBlindspotAlert",
@@ -207,6 +208,7 @@ while True:
 class StarPilotCustomAlertsLayout(StarPilotPanel):
   ALERT_INFO = {
     "GoatScream": {"title": tr_noop("Goat Scream"), "icon": "toggle_icons/icon_sound.png"},
+    "GoatScreamCriticalAlerts": {"title": tr_noop("Goat Critical"), "icon": "toggle_icons/icon_sound.png"},
     "GreenLightAlert": {"title": tr_noop("Green Light"), "icon": "toggle_icons/icon_green_light.png"},
     "LeadDepartingAlert": {"title": tr_noop("Lead Departure"), "icon": "toggle_icons/icon_steering.png"},
     "LoudBlindspotAlert": {"title": tr_noop("Loud Blindspot"), "icon": "toggle_icons/icon_display.png"},

selfdrive/ui/soundd.py

@@ -5,7 +5,7 @@ import wave
 
 from pathlib import Path
 
-from cereal import car, custom, messaging
+from cereal import car, custom, log, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
@@ -191,6 +191,11 @@ class Soundd:
       new_alert = sm['selfdriveState'].alertSound.raw
       new_alert_type = sm['selfdriveState'].alertType
 
+      critical_full_alert = sm['selfdriveState'].alertStatus == log.SelfdriveState.AlertStatus.critical
+      critical_full_alert &= sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.full
+      if self.starpilot_toggles.goat_scream_critical_alerts and critical_full_alert:
+        new_alert = StarPilotAudibleAlert.goat
+
       new_starpilot_alert = sm['starpilotSelfdriveState'].alertSound.raw
       if new_alert == AudibleAlert.none and new_starpilot_alert != StarPilotAudibleAlert.none:
         new_alert = new_starpilot_alert

starpilot/common/starpilot_variables.py

@@ -603,6 +603,7 @@ class StarPilotVariables:
 
     custom_alerts = self.get_value("CustomAlerts")
     toggle.goat_scream_alert = self.get_value("GoatScream", condition=custom_alerts)
+    toggle.goat_scream_critical_alerts = self.get_value("GoatScreamCriticalAlerts", condition=custom_alerts)
     toggle.green_light_alert = self.get_value("GreenLightAlert", condition=custom_alerts)
     toggle.lead_departing_alert = self.get_value("LeadDepartingAlert", condition=custom_alerts)
     toggle.loud_blindspot_alert = self.get_value("LoudBlindspotAlert", condition=custom_alerts and has_bsm)

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -1728,6 +1728,14 @@
         "ui_type": "toggle",
         "parent_key": "CustomAlerts"
       },
+      {
+        "key": "GoatScreamCriticalAlerts",
+        "label": "Goat Scream Critical Alerts",
+        "description": "Play the infamous \"Goat Scream\" for full-screen critical alerts that require immediate takeover.\n\nExamples include: \"TAKE CONTROL IMMEDIATELY\" and \"Stock AEB: Risk of Collision\".",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "parent_key": "CustomAlerts"
+      },
       {
         "key": "GreenLightAlert",
         "label": "Green Light Alert",

starpilot/ui/qt/offroad/sounds_settings.cc

@@ -35,6 +35,7 @@ StarPilotSoundsPanel::StarPilotSoundsPanel(StarPilotSettingsWindow *parent, bool
 
     {"CustomAlerts", tr("StarPilot Alerts"), tr("<b>Optional StarPilot alerts</b> that highlight driving events in a more noticeable way."), "../../starpilot/assets/toggle_icons/icon_green_light.png"},
     {"GoatScream", tr("Goat Scream"), tr("<b>Play the infamous \"Goat Scream\" when the steering controller reaches its limit.</b> Based on the \"Turn Exceeds Steering Limit\" event."), ""},
+    {"GoatScreamCriticalAlerts", tr("Goat Scream Critical Alerts"), tr("<b>Play the infamous \"Goat Scream\" for full-screen critical alerts that require immediate takeover.</b><br><br>Examples include: \"TAKE CONTROL IMMEDIATELY\" and \"Stock AEB: Risk of Collision\"."), ""},
     {"GreenLightAlert", tr("Green Light Alert"), tr("<b>Play an alert when the model predicts a red light has turned green.</b><br><br><i><b>Disclaimer</b>: openpilot does not explicitly detect traffic lights. This alert is based on end-to-end model predictions from camera input and may trigger even when the light has not changed.</i>"), ""},
     {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("<b>Play an alert when the lead vehicle departs from a stop.</b>"), ""},
     {"LoudBlindspotAlert", tr("Loud \"Car Detected in Blindspot\" Alert"), tr("<b>Play a louder alert if a vehicle is in the blind spot when attempting to change lanes.</b> Based on the \"Car Detected in Blindspot\" event."), ""},

starpilot/ui/qt/offroad/sounds_settings.h

@@ -27,7 +27,7 @@ private:
 
   QSet<QString> alertCooldownKeys {"SwitchbackModeCooldown"};
   QSet<QString> alertVolumeControlKeys {"BelowSteerSpeedVolume", "DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"};
-  QSet<QString> customAlertsKeys {"GoatScream", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "SpeedLimitChangedAlert"};
+  QSet<QString> customAlertsKeys {"GoatScream", "GoatScreamCriticalAlerts", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "SpeedLimitChangedAlert"};
 
   QSet<QString> parentKeys;