#!/usr/bin/env python3 from openpilot.common.constants import CV from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.car.cruise import V_CRUISE_MAX from openpilot.selfdrive.selfdrived.events import FROGPILOT_EVENT_NAME from openpilot.selfdrive.selfdrived.selfdrived import LONGITUDINAL_PERSONALITY_MAP, State from openpilot.selfdrive.selfdrived.state import ACTIVE_STATES from openpilot.selfdrive.ui.soundd import FrogPilotAudibleAlert from openpilot.frogpilot.common.frogpilot_utilities import clean_model_name from openpilot.frogpilot.controls.lib.frogpilot_events import RANDOM_EVENT_END, RANDOM_EVENT_START from openpilot.frogpilot.controls.lib.weather_checker import WEATHER_CATEGORIES class FrogPilotTracking: def __init__(self, frogpilot_planner, frogpilot_toggles): self.params = frogpilot_planner.params self.frogpilot_events = frogpilot_planner.frogpilot_events self.frogpilot_weather = frogpilot_planner.frogpilot_weather self.frogpilot_stats = self.params.get("FrogPilotStats") self.frogpilot_stats.pop("CurrentMonthsKilometers", None) self.frogpilot_stats.pop("ResetStats", None) self.drive_added = False self.previously_enabled = False self.distance_since_override = 0 self.tracked_time = 0 self.previous_random_events = set() self.previous_alert = None self.previous_sound = FrogPilotAudibleAlert.none self.previous_state = State.disabled self.model_name = clean_model_name(frogpilot_toggles.model_name) def update(self, now, time_validated, sm, frogpilot_toggles): v_cruise = min(sm["carState"].vCruiseCluster, V_CRUISE_MAX) * CV.KPH_TO_MS v_ego = max(sm["carState"].vEgo, 0) distance_driven = v_ego * DT_MDL self.previously_enabled |= sm["selfdriveState"].enabled or sm["frogpilotCarState"].alwaysOnLateralEnabled self.tracked_time += DT_MDL if sm["selfdriveState"].alertType not in (self.previous_alert, ""): alert_name = sm["selfdriveState"].alertType.split('/')[0] total_events = self.frogpilot_stats.get("TotalEvents", {}) total_events[alert_name] = total_events.get(alert_name, 0) + 1 self.frogpilot_stats["TotalEvents"] = total_events self.previous_alert = sm["selfdriveState"].alertType if sm["selfdriveState"].enabled: key = str(round(v_cruise, 2)) total_cruise_speed_times = self.frogpilot_stats.get("CruiseSpeedTimes", {}) total_cruise_speed_times[key] = total_cruise_speed_times.get(key, 0) + DT_MDL self.frogpilot_stats["CruiseSpeedTimes"] = total_cruise_speed_times self.frogpilot_stats["CurrentMonthsMeters"] = self.frogpilot_stats.get("CurrentMonthsMeters", 0) + distance_driven if self.frogpilot_weather.sunrise != 0 and self.frogpilot_weather.sunset != 0: if self.frogpilot_weather.is_daytime: self.frogpilot_stats["DayTime"] = self.frogpilot_stats.get("DayTime", 0) + DT_MDL else: self.frogpilot_stats["NightTime"] = self.frogpilot_stats.get("NightTime", 0) + DT_MDL if sm["selfdriveState"].state != self.previous_state: if sm["selfdriveState"].state in ACTIVE_STATES and self.previous_state not in ACTIVE_STATES: self.frogpilot_stats["Engages"] = self.frogpilot_stats.get("Engages", 0) + 1 if frogpilot_toggles.sound_pack == "frog": self.frogpilot_stats["FrogChirps"] = self.frogpilot_stats.get("FrogChirps", 0) + 1 elif sm["selfdriveState"].state == State.disabled and self.previous_state in ACTIVE_STATES: self.frogpilot_stats["Disengages"] = self.frogpilot_stats.get("Disengages", 0) + 1 if frogpilot_toggles.sound_pack == "frog": self.frogpilot_stats["FrogSqueaks"] = self.frogpilot_stats.get("FrogSqueaks", 0) + 1 if sm["selfdriveState"].state == State.overriding and self.previous_state != State.overriding: self.frogpilot_stats["Overrides"] = self.frogpilot_stats.get("Overrides", 0) + 1 self.previous_state = sm["selfdriveState"].state if sm["selfdriveState"].experimentalMode: self.frogpilot_stats["ExperimentalModeTime"] = self.frogpilot_stats.get("ExperimentalModeTime", 0) + DT_MDL self.frogpilot_stats["FrogPilotMeters"] = self.frogpilot_stats.get("FrogPilotMeters", 0) + distance_driven if sm["frogpilotSelfdriveState"].alertSound != self.previous_sound: if sm["frogpilotSelfdriveState"].alertSound == FrogPilotAudibleAlert.goat: self.frogpilot_stats["GoatScreams"] = self.frogpilot_stats.get("GoatScreams", 0) + 1 self.previous_sound = sm["frogpilotSelfdriveState"].alertSound self.frogpilot_stats["MaxAcceleration"] = max(self.frogpilot_events.max_acceleration, self.frogpilot_stats.get("MaxAcceleration", 0)) if sm["carControl"].latActive: self.frogpilot_stats["LateralTime"] = self.frogpilot_stats.get("LateralTime", 0) + DT_MDL if sm["carControl"].longActive: self.frogpilot_stats["LongitudinalTime"] = self.frogpilot_stats.get("LongitudinalTime", 0) + DT_MDL personality_name = LONGITUDINAL_PERSONALITY_MAP.get(sm["selfdriveState"].personality, "Unknown").capitalize() total_personality_times = self.frogpilot_stats.get("PersonalityTimes", {}) total_personality_times[personality_name] = total_personality_times.get(personality_name, 0) + DT_MDL self.frogpilot_stats["PersonalityTimes"] = total_personality_times elif sm["frogpilotCarState"].alwaysOnLateralEnabled: self.frogpilot_stats["AOLTime"] = self.frogpilot_stats.get("AOLTime", 0) + DT_MDL if sm["selfdriveState"].state in (State.disabled, State.overriding): self.distance_since_override = 0 self.frogpilot_stats["OverrideTime"] = self.frogpilot_stats.get("OverrideTime", 0) + DT_MDL else: self.distance_since_override += distance_driven self.frogpilot_stats["LongestDistanceWithoutOverride"] = max(self.distance_since_override, self.frogpilot_stats.get("LongestDistanceWithoutOverride", 0)) current_random_events = {event for event in self.frogpilot_events.events.names if RANDOM_EVENT_START <= event <= RANDOM_EVENT_END} if len(current_random_events) > 0: new_events = current_random_events - self.previous_random_events if new_events: total_random_events = self.frogpilot_stats.get("RandomEvents", {}) for event in new_events: event_name = FROGPILOT_EVENT_NAME[event] total_random_events[event_name] = total_random_events.get(event_name, 0) + 1 self.frogpilot_stats["RandomEvents"] = total_random_events self.previous_random_events = current_random_events if sm["carState"].standstill: self.frogpilot_stats["StandstillTime"] = self.frogpilot_stats.get("StandstillTime", 0) + DT_MDL if self.frogpilot_events.stopped_for_light: self.frogpilot_stats["StopLightTime"] = self.frogpilot_stats.get("StopLightTime", 0) + DT_MDL weather_api_calls = self.frogpilot_stats.get("WeatherAPICalls", {}) weather_api_calls["2.5"] = weather_api_calls.get("2.5", 0) + self.frogpilot_weather.api_25_calls weather_api_calls["3.0"] = weather_api_calls.get("3.0", 0) + self.frogpilot_weather.api_3_calls self.frogpilot_stats["WeatherAPICalls"] = weather_api_calls self.frogpilot_weather.api_25_calls = 0 self.frogpilot_weather.api_3_calls = 0 suffix = "unknown" for category in WEATHER_CATEGORIES.values(): if any(start <= self.frogpilot_weather.weather_id <= end for start, end in category["ranges"]): suffix = category["suffix"] break weather_times = self.frogpilot_stats.get("WeatherTimes", {}) weather_times[suffix] = weather_times.get(suffix, 0) + DT_MDL self.frogpilot_stats["WeatherTimes"] = weather_times if self.tracked_time >= 60 and sm["carState"].standstill and self.previously_enabled: if time_validated: current_month = now.month if current_month != self.frogpilot_stats.get("Month"): self.frogpilot_stats.update({ "CurrentMonthsMeters": 0, "Month": current_month }) self.frogpilot_stats["FrogPilotSeconds"] = self.frogpilot_stats.get("FrogPilotSeconds", 0) + self.tracked_time current_model = self.model_name total_model_times = self.frogpilot_stats.get("ModelTimes", {}) total_model_times[current_model] = total_model_times.get(current_model, 0) + self.tracked_time self.frogpilot_stats["ModelTimes"] = total_model_times self.frogpilot_stats["TrackedTime"] = self.frogpilot_stats.get("TrackedTime", 0) + self.tracked_time self.tracked_time = 0 if not self.drive_added: self.frogpilot_stats["FrogPilotDrives"] = self.frogpilot_stats.get("FrogPilotDrives", 0) + 1 self.drive_added = True self.params.put_nonblocking("FrogPilotStats", dict(sorted(self.frogpilot_stats.items())))