Random Events

cereal/car.capnp

@@ -407,6 +407,8 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+
+      firefox @9;
     }
   }
 

cereal/custom.capnp

@@ -24,6 +24,9 @@ enum FrogPilotEvents @0xf35cc4560bbf6ec2 {
   torqueNNLoad @3;
   turningLeft @4;
   turningRight @5;
+
+  # Random Events
+  firefoxSteerSaturated @6;
 }
 
 struct FrogPilotLateralPlan @0xda96579883444c35 {

common/params.cc

@@ -243,6 +243,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStopLightsLead", PERSISTENT},
     {"Compass", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
+    {"CurrentRandomEvent", PERSISTENT},
     {"CurveSensitivity", PERSISTENT},
     {"CustomColors", PERSISTENT},
     {"CustomIcons", PERSISTENT},
@@ -317,6 +318,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"PreviousSpeedLimit", PERSISTENT},
     {"QOLControls", PERSISTENT},
     {"QOLVisuals", PERSISTENT},
+    {"RandomEvents", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
     {"RelaxedJerk", PERSISTENT},
     {"ReverseCruise", PERSISTENT},

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:
+        if undershooting and turning and good_speed and max_torque and not self.random_event_triggered:
-          lac_log.active and self.events.add(FrogPilotEventName.frogSteerSaturated if self.goat_scream else EventName.steerSaturated)
+          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.),
+  },
 }
 
 

selfdrive/frogpilot/ui/visual_settings.cc

@@ -35,6 +35,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"HideSpeed", "Hide Speed", "Hide the speed indicator in the onroad UI.", ""},
     {"ShowSLCOffset", "Show Speed Limit Offset", "Show the speed limit offset seperated from the speed limit in the onroad UI when using 'Speed Limit Controller'.", ""},
 
+    {"RandomEvents", "Random Events", "Enjoy a bit of unpredictability with random events that can occur during certain driving conditions.", "../frogpilot/assets/toggle_icons/icon_random.png"},
     {"ScreenBrightness", "Screen Brightness", "Customize your screen brightness.", "../frogpilot/assets/toggle_icons/icon_light.png"},
     {"SilentMode", "Silent Mode", "Mute openpilot sounds for a quieter driving experience.", "../frogpilot/assets/toggle_icons/icon_mute.png"},
     {"WheelIcon", "Steering Wheel Icon", "Replace the default steering wheel icon with a custom design, adding a unique touch to your interface.", "../assets/offroad/icon_openpilot.png"},

selfdrive/ui/qt/onroad.cc

@@ -376,7 +376,8 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
     {3, loadPixmap("../frogpilot/assets/wheel_images/frog.png", {img_size, img_size})},
     {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})}
+    {6, loadPixmap("../frogpilot/assets/wheel_images/stalin.png", {img_size, img_size})},
+    {7, loadPixmap("../frogpilot/assets/wheel_images/firefox.png", {img_size, img_size})}
   };
 }
 
@@ -405,13 +406,20 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
   }
 
   // FrogPilot variables
+  firefoxRandomEventTriggered = scene.current_random_event == 1;
   rotatingWheel = scene.rotating_wheel;
   wheelIcon = scene.wheel_icon;
 
   y_offset = leadInfo ? 10 : 0;
 
+  if (firefoxRandomEventTriggered) {
+    static int rotationDegree = 0;
+    rotationDegree = (rotationDegree + 36) % 360;
+    steeringAngleDeg = rotationDegree;
+    wheelIcon = 7;
+    update();
   // Update the icon so the steering wheel rotates in real time
-  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+  } else if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
     steeringAngleDeg = scene.steering_angle_deg;
     update();
   }
@@ -431,7 +439,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
       QColor(0, 0, 0, 166));
 
   if (!scene.show_driver_camera) {
-    if (rotatingWheel) {
+    if (rotatingWheel || firefoxRandomEventTriggered) {
       drawIconRotate(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0, steeringAngleDeg);
     } else {
       drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);

selfdrive/ui/qt/onroad.h

@@ -85,6 +85,7 @@ private:
 
   std::map<int, QPixmap> wheelImages;
 
+  bool firefoxRandomEventTriggered;
   bool rotatingWheel;
   int steeringAngleDeg;
   int wheelIcon;

selfdrive/ui/soundd.py

@@ -40,6 +40,8 @@ sound_list: Dict[int, Tuple[str, Optional[int], float]] = {
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  AudibleAlert.firefox: ("firefox.wav", None, MAX_VOLUME),
 }
 
 def check_controls_timeout_alert(sm):

selfdrive/ui/ui.cc

@@ -330,6 +330,7 @@ void ui_update_params(UIState *s) {
   scene.quality_of_life_visuals = params.getBool("QOLVisuals");
   scene.full_map = params.getBool("QOLVisuals") && scene.quality_of_life_visuals;
 
+  scene.random_events = params.getBool("RandomEvents");
   scene.rotating_wheel = params.getBool("RotatingWheel");
   scene.screen_brightness = params.getInt("ScreenBrightness");
   scene.speed_limit_controller = params.getBool("SpeedLimitController");
@@ -410,6 +411,9 @@ void UIState::update() {
   if (scene.conditional_experimental) {
     scene.conditional_status = paramsMemory.getInt("CEStatus");
   }
+  if (scene.random_events) {
+    scene.current_random_event = paramsMemory.getInt("CurrentRandomEvent");
+  }
 }
 
 void UIState::setPrimeType(PrimeType type) {

selfdrive/ui/ui.h

@@ -192,6 +192,7 @@ typedef struct UIScene {
   bool mute_dm;
   bool personalities_via_screen;
   bool quality_of_life_visuals;
+  bool random_events;
   bool road_name_ui;
   bool rotating_wheel;
   bool show_driver_camera;
@@ -218,6 +219,7 @@ typedef struct UIScene {
   int conditional_speed;
   int conditional_speed_lead;
   int conditional_status;
+  int current_random_event;
   int custom_colors;
   int custom_signals;
   int desired_follow;