IQ.Pilot Release Commit @ b6534c0

2026-08-27 20:17:33 -05:00
commit 00f07cac48
4706 changed files with 1257146 additions and 0 deletions
--- a/iqpilot/selfdrive/monitoring/dmonitoringd.py
+++ b/iqpilot/selfdrive/monitoring/dmonitoringd.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import iqpilot.cereal.messaging as messaging
+from iqpilot.common.params import Params
+from iqpilot.common.realtime import config_realtime_process
+from iqpilot.selfdrive.monitoring.helpers import DriverMonitoring
+
+
+def dmonitoringd_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  params = Params()
+  pm = messaging.PubMaster(['driverMonitoringState'])
+  sm = messaging.SubMaster(['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2',
+                            'carControl'], poll='driverStateV2')
+
+  DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"),
+                        force_rhd=params.get_bool("ForceRHDForBSM"))
+  demo_mode=False
+
+  # 20Hz <- dmonitoringmodeld
+  while True:
+    sm.update()
+    if not sm.updated['driverStateV2']:
+      # iterate when model has new output
+      continue
+
+    valid = sm.all_checks()
+    if demo_mode and sm.valid['driverStateV2']:
+      DM.run_step(sm, demo=demo_mode)
+    elif valid:
+      DM.run_step(sm, demo=demo_mode)
+
+    # publish
+    dat = DM.get_state_packet(valid=valid)
+    pm.send('driverMonitoringState', dat)
+
+    # load live always-on toggle
+    if sm['driverStateV2'].frameId % 40 == 1:
+      DM.always_on = params.get_bool("AlwaysOnDM")
+      DM.force_rhd = params.get_bool("ForceRHDForBSM")
+      demo_mode = params.get_bool("IsDriverViewEnabled")
+
+    # save rhd virtual toggle every 5 mins
+    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and not DM.force_rhd and
+     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
+
+def main():
+  dmonitoringd_thread()
+
+
+if __name__ == '__main__':
+  main()