diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 526c68b..8279cbe 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import os import math +import random import time import threading from typing import SupportsFloat @@ -73,16 +74,21 @@ class Controls: self.frogpilot_toggles = FrogPilotVariables.toggles self.drive_added = False + self.fcw_random_event_triggered = False self.holiday_theme_alerted = False self.onroad_distance_pressed = False self.openpilot_crashed_triggered = False self.previously_enabled = False + self.random_event_triggered = False self.speed_check = False self.display_timer = 0 self.drive_distance = 0 self.drive_time = 0 + self.max_acceleration = 0 self.previous_speed_limit = 0 + self.previous_v_cruise = 0 + self.random_event_timer = 0 self.speed_limit_timer = 0 self.green_light_mac = MovingAverageCalculator() @@ -415,6 +421,10 @@ class Controls: planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled if planner_fcw or model_fcw: self.events.add(EventName.fcw) + self.fcw_random_event_triggered = True + elif self.fcw_random_event_triggered and self.frogpilot_toggles.random_events: + self.events.add(EventName.yourFrogTriedToKillMe) + self.fcw_random_event_triggered = False for m in messaging.drain_sock(self.log_sock, wait_for_one=False): try: @@ -673,8 +683,18 @@ class Controls: turning = abs(lac_log.desiredLateralAccel) > 1.0 good_speed = CS.vEgo > 5 max_torque = abs(self.last_actuators.steer) > 0.99 - if undershooting and turning and good_speed and max_torque: - lac_log.active and self.events.add(EventName.goatSteerSaturated if self.frogpilot_toggles.goat_scream else EventName.steerSaturated) + if undershooting and turning and good_speed and max_torque and not self.random_event_triggered: + event_choices = [1, 2] + if self.sm.frame % (10000 // len(event_choices)) == 0 and self.frogpilot_toggles.random_events: + event_choice = random.choice(event_choices) + if event_choice == 1: + lac_log.active and self.events.add(EventName.firefoxSteerSaturated) + self.params_memory.put_int("CurrentRandomEvent", 1) + elif event_choice == 2: + lac_log.active and self.events.add(EventName.goatSteerSaturated) + self.random_event_triggered = True + else: + lac_log.active and self.events.add(EventName.goatSteerSaturated if self.frogpilot_toggles.goat_scream else EventName.steerSaturated) elif lac_log.saturated: # TODO probably should not use dpath_points but curvature dpath_points = model_v2.position.y @@ -936,7 +956,10 @@ class Controls: self.events.add(EventName.blockUser) if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')) and not self.openpilot_crashed_triggered: - self.events.add(EventName.openpilotCrashed) + if self.frogpilot_toggles.random_events: + self.events.add(EventName.openpilotCrashedRandomEvents) + else: + self.events.add(EventName.openpilotCrashed) self.openpilot_crashed_triggered = True if self.frogpilot_toggles.green_light_alert: @@ -957,6 +980,45 @@ class Controls: if self.frogpilot_toggles.lead_departing_alert and self.sm['frogpilotPlan'].leadDeparting: self.events.add(EventName.leadDeparting) + if self.frogpilot_toggles.random_events: + acceleration = CS.aEgo + + if not CS.gasPressed: + self.max_acceleration = max(acceleration, self.max_acceleration) + else: + self.max_acceleration = 0 + + if 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5: + self.events.add(EventName.accel30) + self.params_memory.put_int("CurrentRandomEvent", 2) + self.random_event_triggered = True + self.max_acceleration = 0 + + elif 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5: + self.events.add(EventName.accel35) + self.params_memory.put_int("CurrentRandomEvent", 3) + self.random_event_triggered = True + self.max_acceleration = 0 + + elif self.max_acceleration >= 4.0 and acceleration < 1.5: + self.events.add(EventName.accel40) + self.params_memory.put_int("CurrentRandomEvent", 4) + self.random_event_triggered = True + self.max_acceleration = 0 + + conversion = 1 if self.is_metric else CV.KPH_TO_MPH + v_cruise = max(self.v_cruise_helper.v_cruise_cluster_kph, self.v_cruise_helper.v_cruise_kph) * conversion + + if 70 > v_cruise >= 69: + if self.sm.frame % 25 == 0: + if v_cruise == self.previous_v_cruise and not self.vCruise69_alert_played: + self.events.add(EventName.vCruise69) + self.vCruise69_alert_played = True + self.previous_v_cruise = v_cruise + else: + self.vCruise69_alert_played = False + self.previous_v_cruise = v_cruise + if self.frogpilot_toggles.speed_limit_alert or self.frogpilot_toggles.speed_limit_confirmation: current_speed_limit = self.sm['frogpilotPlan'].slcSpeedLimit desired_speed_limit = self.sm['frogpilotPlan'].unconfirmedSlcSpeedLimit @@ -1058,6 +1120,13 @@ class Controls: self.previously_enabled |= (self.enabled or self.FPCC.alwaysOnLateral) and CS.vEgo > CRUISING_SPEED self.previously_enabled &= self.driving_gear + if self.random_event_triggered: + self.random_event_timer += DT_CTRL + if self.random_event_timer >= 4: + self.random_event_triggered = False + self.random_event_timer = 0 + self.params_memory.remove("CurrentRandomEvent") + signal_check = CS.vEgo >= self.frogpilot_toggles.pause_lateral_below_speed or not (CS.leftBlinker or CS.rightBlinker) or CS.standstill self.speed_check = CS.vEgo >= self.frogpilot_toggles.pause_lateral_below_speed or CS.standstill or signal_check and self.frogpilot_toggles.pause_lateral_below_signal diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 44a1d17..37c8b42 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1097,6 +1097,63 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { AlertStatus.normal, AlertSize.small, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75), }, + + # Random Events + EventName.accel30: { + ET.WARNING: Alert( + "UwU u went a bit fast there!", + "(⁄ ⁄•⁄ω⁄•⁄ ⁄)", + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.uwu, 4.), + }, + + EventName.accel35: { + ET.WARNING: Alert( + "I ain't giving you no tree-fiddy", + "you damn Loch Ness monsta!", + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.nessie, 4.), + }, + + EventName.accel40: { + ET.WARNING: Alert( + "Great Scott!", + "🚗💨", + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.doc, 4.), + }, + + EventName.firefoxSteerSaturated: { + ET.WARNING: Alert( + "Turn Exceeds Steering Limit", + "IE Has Stopped Responding...", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.firefox, 4.), + }, + + EventName.openpilotCrashedRandomEvents: { + ET.PERMANENT: Alert( + "openpilot crashed 💩", + "Please post the error log in the FrogPilot Discord!", + AlertStatus.normal, AlertSize.mid, + Priority.HIGHEST, VisualAlert.none, AudibleAlert.fart, 10.), + }, + + EventName.vCruise69: { + ET.PERMANENT: Alert( + "Lol 69", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.noice, 2.), + }, + + EventName.yourFrogTriedToKillMe: { + ET.PERMANENT: Alert( + "Your frog tried to kill me...", + "👺", + AlertStatus.frogpilot, AlertSize.mid, + Priority.MID, VisualAlert.none, AudibleAlert.angry, 5.), + }, } diff --git a/selfdrive/frogpilot/assets/random_events/images/firefox.png b/selfdrive/frogpilot/assets/random_events/images/firefox.png new file mode 100644 index 0000000..6c3a418 Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/images/firefox.png differ diff --git a/selfdrive/frogpilot/assets/random_events/images/great_scott.gif b/selfdrive/frogpilot/assets/random_events/images/great_scott.gif new file mode 100644 index 0000000..a29ca8e Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/images/great_scott.gif differ diff --git a/selfdrive/frogpilot/assets/random_events/images/tree_fiddy.gif b/selfdrive/frogpilot/assets/random_events/images/tree_fiddy.gif new file mode 100644 index 0000000..3207179 Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/images/tree_fiddy.gif differ diff --git a/selfdrive/frogpilot/assets/random_events/images/weeb_wheel.gif b/selfdrive/frogpilot/assets/random_events/images/weeb_wheel.gif new file mode 100644 index 0000000..0c8374e Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/images/weeb_wheel.gif differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/angry.wav b/selfdrive/frogpilot/assets/random_events/sounds/angry.wav new file mode 100644 index 0000000..6bc6991 Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/angry.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/doc.wav b/selfdrive/frogpilot/assets/random_events/sounds/doc.wav new file mode 100644 index 0000000..9fd679e Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/doc.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/fart.wav b/selfdrive/frogpilot/assets/random_events/sounds/fart.wav new file mode 100644 index 0000000..d825cba Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/fart.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/firefox.wav b/selfdrive/frogpilot/assets/random_events/sounds/firefox.wav new file mode 100644 index 0000000..9b0668f Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/firefox.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/goat.wav b/selfdrive/frogpilot/assets/random_events/sounds/goat.wav new file mode 100644 index 0000000..e6f3c2c Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/goat.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/nessie.wav b/selfdrive/frogpilot/assets/random_events/sounds/nessie.wav new file mode 100644 index 0000000..899dc72 Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/nessie.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/noice.wav b/selfdrive/frogpilot/assets/random_events/sounds/noice.wav new file mode 100644 index 0000000..95c8d01 Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/noice.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/sounds/uwu.wav b/selfdrive/frogpilot/assets/random_events/sounds/uwu.wav new file mode 100644 index 0000000..830360c Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/uwu.wav differ diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index c499f76..18dd64d 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -33,6 +33,18 @@ static void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, cons p.restore(); } +static void drawIconGif(QPainter &p, const QPoint ¢er, const QMovie &img, const QBrush &bg, float opacity) { + p.setRenderHint(QPainter::Antialiasing); + p.setOpacity(1.0); // bg dictates opacity of ellipse + p.setPen(Qt::NoPen); + p.setBrush(bg); + p.drawEllipse(center.x() - btn_size / 2, center.y() - btn_size / 2, btn_size, btn_size); + p.setOpacity(opacity); + QPixmap currentFrame = img.currentPixmap(); + p.drawPixmap(center - QPoint(currentFrame.width() / 2, currentFrame.height() / 2), currentFrame); + p.setOpacity(1.0); +} + OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setMargin(UI_BORDER_SIZE); @@ -296,7 +308,12 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals {4, loadPixmap("../frogpilot/assets/wheel_images/rocket.png", {img_size, img_size})}, {5, loadPixmap("../frogpilot/assets/wheel_images/hyundai.png", {img_size, img_size})}, {6, loadPixmap("../frogpilot/assets/wheel_images/stalin.png", {img_size, img_size})}, + {7, loadPixmap("../frogpilot/assets/random_events/images/firefox.png", {img_size, img_size})}, }; + + wheelImagesGif[1] = new QMovie("../frogpilot/assets/random_events/images/weeb_wheel.gif", QByteArray(), this); + wheelImagesGif[2] = new QMovie("../frogpilot/assets/random_events/images/tree_fiddy.gif", QByteArray(), this); + wheelImagesGif[3] = new QMovie("../frogpilot/assets/random_events/images/great_scott.gif", QByteArray(), this); } void ExperimentalButton::changeMode() { @@ -322,10 +339,39 @@ void ExperimentalButton::updateState(const UIState &s) { } // FrogPilot variables + int randomEvent = scene.current_random_event; + rotatingWheel = scene.rotating_wheel; wheelIcon = scene.wheel_icon; + wheelIconGif = 0; - if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) { + if (randomEvent == 0 && gifLabel) { + delete gifLabel; + gifLabel = nullptr; + } else if (randomEvent == 1) { + static int rotationDegree = 0; + rotationDegree = (rotationDegree + 36) % 360; + steeringAngleDeg = rotationDegree; + wheelIcon = 7; + update(); + + } else if (randomEvent == 2 || randomEvent == 3 || randomEvent == 4) { + if (!gifLabel) { + gifLabel = new QLabel(this); + QMovie *movie = wheelImagesGif[randomEvent - 1]; + if (movie) { + gifLabel->setMovie(movie); + gifLabel->setFixedSize(img_size, img_size); + gifLabel->move((width() - gifLabel->width()) / 2, (height() - gifLabel->height()) / 2); + gifLabel->movie()->start(); + } + } + gifLabel->show(); + wheelIconGif = randomEvent - 1; + update(); + + } else if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) { + steeringAngleDeg = scene.steering_angle_deg; update(); steeringAngleDeg = scene.steering_angle_deg; } else if (!rotatingWheel) { @@ -341,6 +387,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) { QPainter p(this); engage_img = wheelImages[wheelIcon]; QPixmap img = wheelIcon != 0 ? engage_img : (experimental_mode ? experimental_img : engage_img); + QMovie *gif = wheelImagesGif[wheelIconGif]; QColor background_color = wheelIcon != 0 && !isDown() && engageable ? (scene.always_on_lateral_active ? bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE] : @@ -350,7 +397,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) { (scene.navigate_on_openpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : QColor(0, 0, 0, 166)))))) : QColor(0, 0, 0, 166); - drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg); + if (wheelIconGif != 0) { + drawIconGif(p, QPoint(btn_size / 2, btn_size / 2), *gif, background_color, 1.0); + } else { + drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, background_color, (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg); + } } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index bfa5b7f..0935b01 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -2,6 +2,8 @@ #include +#include +#include #include #include #include @@ -106,11 +108,20 @@ private: UIScene &scene; QMap wheelImages; + QMap wheelImagesGif; + QMovie engage_gif; + QLabel *gifLabel; + + bool docRandomEventTriggered; + bool firefoxRandomEventTriggered; bool rotatingWheel; + bool treeFiddyRandomEventTriggered; + bool weebRandomEventTriggered; int steeringAngleDeg; int wheelIcon; + int wheelIconGif; }; diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index 0ce8f71..5722b6f 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -42,6 +42,15 @@ sound_list: dict[int, tuple[str, int | None, float]] = { AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME), AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME), + # Random Events + AudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME), + AudibleAlert.doc: ("doc.wav", 1, MAX_VOLUME), + AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME), + AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME), + AudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME), + AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME), + AudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME), + # Other AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME), } @@ -70,6 +79,18 @@ class Soundd: self.frogpilot_toggles = FrogPilotVariables.toggles self.previous_sound_directory = None + self.random_events_directory = BASEDIR + "/selfdrive/frogpilot/assets/random_events/sounds/" + + self.random_events_map = { + AudibleAlert.angry: MAX_VOLUME, + AudibleAlert.doc: MAX_VOLUME, + AudibleAlert.fart: MAX_VOLUME, + AudibleAlert.firefox: MAX_VOLUME, + AudibleAlert.goat: MAX_VOLUME, + AudibleAlert.nessie: MAX_VOLUME, + AudibleAlert.noice: MAX_VOLUME, + AudibleAlert.uwu: MAX_VOLUME, + } self.update_frogpilot_sounds() @@ -80,12 +101,15 @@ class Soundd: for sound in sound_list: filename, play_count, volume = sound_list[sound] - try: + if sound in self.random_events_map: + wavefile = wave.open(self.random_events_directory + filename, 'r') + else: if sound == AudibleAlert.goat and not self.frogpilot_toggles.goat_scream: continue - wavefile = wave.open(self.sound_directory + filename, 'r') - except FileNotFoundError: - wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') + try: + wavefile = wave.open(self.sound_directory + filename, 'r') + except FileNotFoundError: + wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') assert wavefile.getnchannels() == 1 assert wavefile.getsampwidth() == 2 @@ -171,6 +195,9 @@ class Soundd: elif self.frogpilot_toggles.alert_volume_control and self.current_alert in self.volume_map: self.current_volume = self.volume_map[self.current_alert] / 100.0 + elif self.current_alert in self.random_events_map: + self.current_volume = self.random_events_map[self.current_alert] + self.get_audible_alert(sm) rk.keep_time() diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 67c153d..47c8dc3 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -321,6 +321,7 @@ void ui_update_frogpilot_params(UIState *s) { scene.custom_icons = custom_theme ? params.getInt("CustomIcons") : 0; scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0; scene.holiday_themes = custom_theme && params.getBool("HolidayThemes"); + scene.random_events = custom_theme && params.getBool("RandomEvents"); scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing"); scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing"); @@ -419,6 +420,7 @@ void UIState::update() { // FrogPilot live variables that need to be constantly checked scene.conditional_status = scene.conditional_experimental && scene.enabled ? paramsMemory.getInt("CEStatus") : 0; scene.current_holiday_theme = scene.holiday_themes ? paramsMemory.getInt("CurrentHolidayTheme") : 0; + scene.current_random_event = scene.random_events ? paramsMemory.getInt("CurrentRandomEvent") : 0; } void UIState::setPrimeType(PrimeType type) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index bd655f2..8e5dd61 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -208,6 +208,7 @@ typedef struct UIScene { bool onroad_distance_button; bool parked; bool pedals_on_ui; + bool random_events; bool reverse_cruise; bool reverse_cruise_ui; bool right_hand_drive; @@ -247,6 +248,7 @@ typedef struct UIScene { int conditional_speed_lead; int conditional_status; int current_holiday_theme; + int current_random_event; int custom_colors; int custom_icons; int custom_signals;