Totally random events

Added toggle to enable a small chance of a random event occuring when certain conditions are met.

selfdrive/controls/controlsd.py

@@ -181,13 +181,18 @@ class Controls:
     self.frogpilot_variables = SimpleNamespace()
 
     self.driving_gear = False
+    self.fcw_random_event_triggered = False
     self.holiday_theme_alerted = False
     self.previously_enabled = False
     self.openpilot_crashed = False
+    self.previously_enabled = False
+    self.random_event_triggered = False
     self.stopped_for_light_previously = False
 
+    self.max_acceleration = 0
     self.previous_lead_distance = 0
     self.previous_speed_limit = SpeedLimitController.desired_speed_limit
+    self.random_event_timer = 0
 
     ignore = self.sensor_packets + ['testJoystick']
     if SIMULATION:
@@ -331,7 +336,9 @@ class Controls:
     # Show crash log event if openpilot crashed
     if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
       self.events.add(EventName.openpilotCrashed)
-      return
+      if self.random_events and not self.openpilot_crashed:
+        self.events.add(EventName.openpilotCrashedRandomEvents)
+      self.openpilot_crashed = True
 
     # Show holiday related event to indicate which holiday is active
     if self.sm.frame >= 1000 and self.holiday_themes and self.params_memory.get_int("CurrentHolidayTheme") != 0 and not self.holiday_theme_alerted:
@@ -538,6 +545,11 @@ 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.random_events:
+      self.events.add(EventName.yourFrogTriedToKillMe)
+      self.fcw_random_event_triggered = False
+      self.random_event_triggered = True
 
     for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
       try:
@@ -562,6 +574,26 @@ class Controls:
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
+    # Acceleration Random Event alerts
+    if self.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 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
+
     # Green light alert
     if self.green_light_alert:
       stopped_for_light = frogpilot_plan.redLight and CS.standstill
@@ -633,6 +665,19 @@ class Controls:
     else:
       self.FPCC.speedLimitChanged = False
 
+    # vCruise set to 69 Random Event alert
+    if self.random_events:
+      conversion = 1 if self.is_metric else CV.KPH_TO_MPH
+      v_cruise = self.v_cruise_helper.v_cruise_cluster_kph if self.v_cruise_helper.v_cruise_cluster_kph != 0.0 else self.v_cruise_helper.v_cruise_kph
+      v_cruise *= conversion
+
+      if 70 > v_cruise >= 69:
+        if not self.vCruise69_alert_played:
+          self.events.add(EventName.vCruise69)
+          self.vCruise69_alert_played = True
+      else:
+        self.vCruise69_alert_played = False
+
   def data_sample(self):
     """Receive data from sockets and update carState"""
 
@@ -793,6 +838,14 @@ class Controls:
     # FrogPilot functions
     frogpilot_plan = self.sm['frogpilotPlan']
 
+    # Reset the Random Event flag after 5 seconds
+    if self.random_event_triggered:
+      self.random_event_timer += 1
+      if self.random_event_timer * DT_CTRL >= 4:
+        self.random_event_triggered = False
+        self.random_event_timer = 0
+        self.params_memory.remove("CurrentRandomEvent")
+
     # Update Experimental Mode
     if self.frogpilot_variables.conditional_experimental_mode:
       self.experimental_mode = frogpilot_plan.conditionalExperimental
@@ -883,8 +936,13 @@ 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.frogSteerSaturated if self.goat_scream else EventName.steerSaturated)
+        if undershooting and turning and good_speed and max_torque and not self.random_event_triggered:
+          if self.sm.frame % 10000 == 0 and self.random_events:
+            lac_log.active and self.events.add(EventName.firefoxSteerSaturated)
+            self.params_memory.put_int("CurrentRandomEvent", 1)
+            self.random_event_triggered = True
+          else:
+            lac_log.active and self.events.add(EventName.frogSteerSaturated if self.goat_scream else EventName.steerSaturated)
       elif lac_log.saturated:
         # TODO probably should not use dpath_points but curvature
         dpath_points = model_v2.position.y
@@ -1156,6 +1214,8 @@ class Controls:
     self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
     self.frogpilot_variables.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1 if self.is_metric else CV.MPH_TO_KPH) if quality_of_life else 0
 
+    self.random_events = self.params.get_bool("RandomEvents")
+
     self.speed_limit_controller = self.params.get_bool("SpeedLimitController")
     self.frogpilot_variables.force_mph_dashboard = self.speed_limit_controller and self.params.get_bool("ForceMPHDashboard")
     self.frogpilot_variables.set_speed_limit = self.speed_limit_controller and self.params.get_bool("SetSpeedLimit")