IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ d23c019

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-07-26 18:52:41 -05:00
parent e557c3d8ee
commit 152206f935
262 changed files with 12479 additions and 11377 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
selfdrive/monitoring/dmonitoringd.py
View File

@@ -1,8 +1,33 @@
#!/usr/bin/env python3
from types import SimpleNamespace
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
from openpilot.selfdrive.monitoring.legacy_policy import DRIVER_MONITOR_SETTINGS as LegacySettings
from openpilot.selfdrive.monitoring.legacy_policy import DriverMonitoring as LegacyDriverMonitoring
from openpilot.selfdrive.monitoring.policy import DriverMonitoring as UpstreamDriverMonitoring
from openpilot.system.hardware import HARDWARE
def use_legacy_dm(device_type: str) -> bool:
return device_type == 'mici'
def create_driver_monitoring(device_type: str, rhd_saved: bool, always_on: bool):
if use_legacy_dm(device_type):
return LegacyDriverMonitoring(rhd_saved=rhd_saved, settings=LegacySettings(device_type), always_on=always_on)
return UpstreamDriverMonitoring(rhd_saved=rhd_saved, always_on=always_on)
def get_dm_inputs(sm):
return {
'driverStateV2': sm['driverStateV2'],
'liveCalibration': sm['liveCalibration'],
'carState': sm['carState'],
'selfdriveState': SimpleNamespace(enabled=sm['selfdriveState'].enabled or sm['carControl'].latActive),
'modelV2': sm['modelV2'],
}
def dmonitoringd_thread():
@@ -13,7 +38,9 @@ def dmonitoringd_thread():
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
'carControl'], poll='driverStateV2')
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
device_type = HARDWARE.get_device_type()
legacy_dm = use_legacy_dm(device_type)
DM = create_driver_monitoring(device_type, params.get_bool("IsRhdDetected"), params.get_bool("AlwaysOnDM"))
demo_mode=False
# 20Hz <- dmonitoringmodeld
@@ -25,9 +52,9 @@ def dmonitoringd_thread():
valid = sm.all_checks()
if demo_mode and sm.valid['driverStateV2']:
DM.run_step(sm, demo=demo_mode)
DM.run_step(sm if legacy_dm else get_dm_inputs(sm), demo=True)
elif valid:
DM.run_step(sm, demo=demo_mode)
DM.run_step(sm if legacy_dm else get_dm_inputs(sm), demo=demo_mode)
# publish
dat = DM.get_state_packet(valid=valid)
@@ -39,10 +66,11 @@ def dmonitoringd_thread():
demo_mode = params.get_bool("IsDriverViewEnabled")
# save rhd virtual toggle every 5 mins
wheelpos_offsetter = DM.wheelpos.prob_offseter if legacy_dm else DM.wheelpos_offsetter
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode 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)
wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
params.put_bool("IsRhdDetected", DM.wheel_on_right)
def main():
dmonitoringd_thread()