General: Lead Vehicle Departure Alert (#73)

* UI: Display E2E Longitudinal status icon

* don't forget init

* take these out

* and this

* can't leave this

* spam the event

* publish here instead

* try this now

* expose the toggle

* Spam all the time!!!

* Spam all the time with this!

* see if this works

* new way to trigger

* fix

* another one

* more to it

* more of that

* move to car controls instead

* no longer needed

* 20 hz

* unnecessary

* send like this pls

* move to long planner

* let's see what it looks like first

* don't alert yet lol

* re-enable and try out prompt!

* move chime event to longitudinal_planner

* AlertStatus to userPrompt

* Add more reset conditions

* less conditions to test first

* louder sound

* permanent alert

* LOUDER SON!

* use stock prompt

* Revert "less conditions to test first"

This reverts commit b24a096e65e80f303f7d92072cdf273a30dd37e2.

* remove lead car take off alert (in separate PR)

* cleanup

* longer

* Nicki Minaj Model (#28218)

* New model: 2ff7490f-8a2f-4c0d-87a8-b0fa3a4a6a71

* Updated model_replay_ref_commit

(cherry picked from commit 328b5d9d47)

* use the event

* move logic to c++

* cleanup

* no prompt border

* use brake light from car state

* lead car take off event

* lead car take off event

* always reset last distance

* show border when prompted

* remove lead car take off alert (in separate PR)

* don't prompt when lead car detected

* Revert "Nicki Minaj Model (#28218)"

This reverts commit b25e96c9d8fe0ac3a93c97eec2e91064c12a5649.

* bad sounds

* simpler

* lead car takeoff prompt

* log to tmux

* Nicki Minaj Model (#28218)

* New model: 2ff7490f-8a2f-4c0d-87a8-b0fa3a4a6a71

* Updated model_replay_ref_commit

(cherry picked from commit 328b5d9d47)

* only print when stopping or starting

* remove debug msgs

* Revert "Nicki Minaj Model (#28218)"

This reverts commit 4fa06f12db858f65570bbf4bc2d9ee1709aead19.

---------

Co-authored-by: Mitchell Goff <mitchellgoffpc@gmail.com>

selfdrive/ui/qt/offroad/sunnypilot_settings.cc

@@ -28,7 +28,7 @@ SPGeneralPanel::SPGeneralPanel(QWidget *parent) : QWidget(parent) {
 
   // General: Green Traffic Light Chime
   endToEndLongAlert = new ParamControl(
-    "EndToEndLongAlert",
+    "EndToEndLongAlertLight",
     tr("Green Traffic Light Chime (Beta)"),
     QString("%1<br>"
             "<h4>%2</h4><br>")
@@ -40,6 +40,18 @@ SPGeneralPanel::SPGeneralPanel(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(horizontal_line());
   main_layout->addWidget(endToEndLongAlert);
 
+  // General: Lead Vehicle Departure Alert
+  main_layout->addWidget(horizontal_line());
+  main_layout->addWidget(new ParamControl(
+    "EndToEndLongAlertLead",
+    tr("Lead Vehicle Departure Alert"),
+    QString("%1<br>"
+            "<h4>%2</h4><br>")
+            .arg(tr("Enable this will notify when the leading vehicle drives away."))
+            .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")),
+    "../assets/offroad/icon_road.png"
+  ));
+
   // General: Custom Boot Screen
   main_layout->addWidget(horizontal_line());
   main_layout->addWidget(new ParamControl(

selfdrive/ui/qt/onroad.cc

@@ -568,6 +568,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   static bool chime_sent = false;
   static int chime_count = 0;
   int chime_prompt = 0;
+  static float last_lead_distance = -1;
+  const float lead_distance = radar_state.getLeadOne().getDRel();
 
   if (!s.scene.e2e_long_alert_ui) {
     e2eLStatus = 0;
@@ -579,18 +581,33 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     e2eLStatus = 0;
   }
 
-  if (!s.scene.e2e_long_alert || radar_state.getLeadOne().getStatus()) {
+  if (!car_state.getStandstill()) {
     chime_prompt = 0;
     chime_sent = false;
     chime_count = 0;
-  } else if (e2eLStatus == 2) {
+
+    if (last_lead_distance != -1) {
+      last_lead_distance = -1;
+    }
+  }
+
+  if (e2eLStatus == 2) {
     if ((car_state.getCruiseState().getEnabled() || car_state.getBrakeLights()) && !car_state.getGasPressed() && car_state.getStandstill()) {
       if (chime_sent) {
         chime_count = 0;
       } else {
         chime_count += 1;
       }
-      if (chime_count >= 2 && !chime_sent) {
+      if (radar_state.getLeadOne().getStatus()) {
+        if ((last_lead_distance == -1) || (lead_distance < last_lead_distance)) {
+          last_lead_distance = lead_distance;
+        } else if (s.scene.e2e_long_alert_lead && (lead_distance - last_lead_distance > 1.0) && !chime_sent) {
+          chime_prompt = 2;
+          chime_sent = true;
+        } else {
+          chime_prompt = 0;
+        }
+      } else if (s.scene.e2e_long_alert_light && chime_count >= 2 && !chime_sent) {
         chime_prompt = 1;
         chime_sent = true;
       } else {
@@ -598,15 +615,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
       }
     }
   } else {
-    chime_prompt = 0;
-    chime_sent = false;
-    chime_count = 0;
-  }
-
-  if (!car_state.getStandstill()) {
-    chime_prompt = 0;
-    chime_sent = false;
-    chime_count = 0;
   }
 
   setProperty("e2eStatus", chime_prompt);

selfdrive/ui/ui.cc

@@ -255,7 +255,8 @@ void ui_update_params(UIState *s) {
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.button_auto_hide = params.getBool("ButtonAutoHide");
   s->scene.reverse_dm_cam = params.getBool("ReverseDmCam");
-  s->scene.e2e_long_alert = params.getBool("EndToEndLongAlert");
+  s->scene.e2e_long_alert_light = params.getBool("EndToEndLongAlertLight");
+  s->scene.e2e_long_alert_lead = params.getBool("EndToEndLongAlertLead");
   s->scene.e2e_long_alert_ui = params.getBool("EndToEndLongAlertUI");
 
   if (s->scene.onroadScreenOff > 0) {

selfdrive/ui/ui.h

@@ -186,7 +186,7 @@ typedef struct UIScene {
 
   bool reverse_dm_cam;
 
-  bool e2e_long_alert, e2e_long_alert_ui;
+  bool e2e_long_alert_light, e2e_long_alert_lead, e2e_long_alert_ui;
   float e2eX[13] = {0};
 } UIScene;