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IQ.Pilot Release Commit @ f82ff4d

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IQ.Lvbs CI [bot]
2026-07-21 13:43:46 -05:00
parent 7b20edda67
commit b712a31728
717 changed files with 4347 additions and 3060 deletions
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24
selfdrive/monitoring/dmonitoringd.py
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@@ -1,8 +1,20 @@
#!/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.policy import DriverMonitoring
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():
@@ -25,9 +37,9 @@ def dmonitoringd_thread():
valid = sm.all_checks()
if demo_mode and sm.valid['driverStateV2']:
DM.run_step(sm, demo=demo_mode)
DM.run_step(get_dm_inputs(sm), demo=True)
elif valid:
DM.run_step(sm, demo=demo_mode)
DM.run_step(get_dm_inputs(sm), demo=demo_mode)
# publish
dat = DM.get_state_packet(valid=valid)
@@ -40,9 +52,9 @@ def dmonitoringd_thread():
# save rhd virtual toggle every 5 mins
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)
DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
params.put_bool("IsRhdDetected", DM.wheel_on_right)
def main():
dmonitoringd_thread()