Custom themes

Added toggles for the "Custom Themes" configuration. Colors, icons, sounds, and turn signal animations are all individually toggleable.

selfdrive/controls/controlsd.py

@@ -778,7 +778,7 @@ class Controls:
         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.steerSaturated)
+          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
@@ -1018,6 +1018,11 @@ class Controls:
 
     custom_alerts = self.params.get_bool("CustomAlerts")
 
+    custom_theme = self.params.get_bool("CustomTheme")
+    custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0
+    frog_sounds = custom_sounds == 1
+    self.goat_scream = frog_sounds and self.params.get_bool("GoatScream")
+
     lateral_tune = self.params.get_bool("LateralTune")
 
     longitudinal_tune = self.params.get_bool("LongitudinalTune")

selfdrive/controls/lib/events.py

@@ -958,6 +958,13 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   # FrogPilot Events
+  EventName.frogSteerSaturated: {
+    ET.WARNING: Alert(
+      "Turn Exceeds Steering Limit",
+      "JESUS TAKE THE WHEEL!!",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.warningSoft, 2.),
+  },
 
 }