Random Events

selfdrive/controls/controlsd.py

@@ -82,8 +82,11 @@ class Controls:
     fire_the_babysitter = self.params.get_bool("FireTheBabysitter")
     mute_dm = fire_the_babysitter and self.params.get_bool("MuteDM")
 
+    self.random_event_triggered = False
     self.stopped_for_light_previously = False
 
+    self.random_event_timer = 0
+
     ignore = self.sensor_packets + ['testJoystick']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
@@ -629,6 +632,14 @@ class Controls:
     long_plan = self.sm['longitudinalPlan']
     frogpilot_long_plan = self.sm['frogpilotLongitudinalPlan']
 
+    # Reset the Random Event flag
+    if self.random_event_triggered:
+      self.random_event_timer += 1
+      if self.random_event_timer >= 400:
+        self.random_event_triggered = False
+        self.random_event_timer = 0
+        self.params_memory.remove("CurrentRandomEvent")
+
     CC = car.CarControl.new_message()
     CC.enabled = self.enabled
 
@@ -730,8 +741,13 @@ 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(FrogPilotEventName.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:
+            lac_log.active and self.events.add(FrogPilotEventName.firefoxSteerSaturated)
+            self.params_memory.put_int("CurrentRandomEvent", 1)
+            self.random_event_triggered = True
+          else:
+            lac_log.active and self.events.add(FrogPilotEventName.frogSteerSaturated if self.goat_scream else EventName.steerSaturated)
       elif lac_log.saturated:
         dpath_points = lat_plan.dPathPoints
         if len(dpath_points):
@@ -1004,6 +1020,8 @@ class Controls:
     self.reverse_cruise_increase = self.params.get_bool("ReverseCruise") and quality_of_life
     self.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")
+
 def main():
   controls = Controls()
   controls.controlsd_thread()

selfdrive/controls/lib/events.py

@@ -1028,6 +1028,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
   },
 
+  # Random Events
+  FrogPilotEventName.firefoxSteerSaturated: {
+    ET.WARNING: Alert(
+      "Turn Exceeds Steering Limit",
+      "IE Has Stopped Responding...",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.firefox, 4.),
+  },
 }