Goat Scream

selfdrive/selfdrived/events.py

@@ -1070,6 +1070,14 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: forcing_stop_alert,
   },
 
+  FrogPilotEventName.goatSteerSaturated: {
+    ET.WARNING: Alert(
+      "JESUS TAKE THE WHEEL!!",
+      "Turn Exceeds Steering Limit",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, FrogPilotAudibleAlert.goat, 2.),
+  },
+
   FrogPilotEventName.openpilotCrashed: {
     ET.IMMEDIATE_DISABLE: Alert(
       "openpilot crashed",

selfdrive/selfdrived/selfdrived.py

@@ -404,7 +404,10 @@ class SelfdriveD:
       turning = abs(desired_lateral_accel) > 1.0
       # TODO: lac.saturated includes speed and other checks, should be pulled out
       if undershooting and turning and lac.saturated:
-        self.events.add(EventName.steerSaturated)
+        if self.frogpilot_toggles.goat_scream_alert:
+          self.frogpilot_events.add(FrogPilotEventName.goatSteerSaturated)
+        else:
+          self.events.add(EventName.steerSaturated)
 
     # Check for FCW
     stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25

selfdrive/ui/soundd.py

@@ -52,6 +52,7 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
 
   # FrogPilot variables
+  FrogPilotAudibleAlert.goat: ("goat.wav", None, MAX_VOLUME),
 }
 if HARDWARE.get_device_type() in ("tici", "tizi"):
   sound_list.update({