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IQ.Pilot Release Commit @ d23cc80

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IQ.Lvbs CI [bot]
2026-07-27 18:01:16 -05:00
parent 46277b19ec
commit a70938008a
74 changed files with 715 additions and 1296 deletions
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32
selfdrive/selfdrived/selfdrived.py
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@@ -54,8 +54,6 @@ EventName = log.OnroadEvent.EventName
ButtonType = car.CarState.ButtonEvent.Type
SafetyModel = car.CarParams.SafetyModel
TurnDirection = custom.IQTurnSignalDirection
AlertLevel = log.DriverMonitoringState.AlertLevel
MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -129,6 +127,7 @@ class SelfdriveD(GapButtonActions):
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.nav_exit_lane_change = self._read_nav_exit_lane_change()
self.model_download_pending = self.params.get("ModelManager_DownloadIndex") is not None
car_recognized = self.CP.brand != 'mock'
@@ -149,7 +148,6 @@ class SelfdriveD(GapButtonActions):
self.events_prev = []
self.logged_comm_issue = None
self.not_running_prev = None
self.dm_lockout_set = False
self.experimental_mode = False
self.personality = get_sanitize_int_param(
"LongitudinalPersonality",
@@ -186,6 +184,7 @@ class SelfdriveD(GapButtonActions):
self.events_iq = IQEvents()
self.events_iq_prev = []
self._cached_dm_event_names: tuple[int, ...] = ()
self._cached_plan_event_names: tuple[int, ...] = ()
self._cached_model_event_names: tuple[int, ...] = ()
self._cached_nav_event_names: tuple[int, ...] = ()
@@ -207,6 +206,10 @@ class SelfdriveD(GapButtonActions):
if self.sm.updated['iqPlan']:
self._cached_plan_event_names = tuple(event.name.raw for event in self._get_longitudinal_plan_ext().events)
def _refresh_cached_dm_events(self) -> None:
if self.sm.updated['driverMonitoringState']:
self._cached_dm_event_names = tuple(event.name.raw for event in self.sm['driverMonitoringState'].events)
def _refresh_cached_model_events(self) -> None:
if not self.sm.updated['iqDriveModelData']:
return
@@ -295,24 +298,8 @@ class SelfdriveD(GapButtonActions):
self.events.add(EventName.resumeBlocked)
if not self.CP.notCar:
if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
self.params.put_bool("DriverTooDistracted", True)
self.dm_lockout_set = True
elif not self.sm['driverMonitoringState'].lockout and self.dm_lockout_set:
self.params.remove("DriverTooDistracted")
self.dm_lockout_set = False
if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
self.events.add(EventName.tooDistracted)
vision_dm = self.sm['driverMonitoringState'].activePolicy == MonitoringPolicy.vision
if self.sm['driverMonitoringState'].alertLevel == AlertLevel.one:
self.events.add(EventName.driverDistracted1 if vision_dm else EventName.driverUnresponsive1)
elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.two:
self.events.add(EventName.driverDistracted2 if vision_dm else EventName.driverUnresponsive2)
elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.three:
self.events.add(EventName.driverDistracted3 if vision_dm else EventName.driverUnresponsive3)
self._refresh_cached_dm_events()
self._add_event_names(self._cached_dm_event_names)
self._refresh_cached_plan_events()
self._add_iq_event_names(self._cached_plan_event_names)
@@ -443,6 +430,8 @@ class SelfdriveD(GapButtonActions):
self.not_running_prev = not_running
if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
self.events.add(EventName.processNotRunning)
if 'iqmodeld' in not_running and self.model_download_pending:
self.events_iq.add(custom.IQOnroadEvent.EventName.modelUpdating)
else:
if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets):
@@ -756,6 +745,7 @@ class SelfdriveD(GapButtonActions):
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
self.personality = self.params.get("LongitudinalPersonality", return_default=True)
self.nav_exit_lane_change = self._read_nav_exit_lane_change()
self.model_download_pending = self.params.get("ModelManager_DownloadIndex") is not None
self.aol.read_params()
time.sleep(0.1)