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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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29
selfdrive/selfdrived/events.py
View File

@@ -79,6 +79,13 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
if sm['driverMonitoringState'].lockout:
mins_left = sm['driverMonitoringState'].lockoutMinutesRemaining
return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left", priority=Priority.HIGH)
return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
return Alert(
@@ -360,15 +367,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
},
EventName.preDriverDistracted: {
EventName.driverDistracted1: {
ET.PERMANENT: Alert(
"Pay Attention",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, .1),
},
EventName.promptDriverDistracted: {
EventName.driverDistracted2: {
ET.PERMANENT: Alert(
"Pay Attention",
"Driver Distracted",
@@ -376,7 +383,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
},
EventName.driverDistracted: {
EventName.driverDistracted3: {
ET.PERMANENT: Alert(
"DISENGAGE IMMEDIATELY",
"Driver Distracted",
@@ -384,7 +391,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
},
EventName.preDriverUnresponsive: {
EventName.driverUnresponsive1: {
ET.PERMANENT: Alert(
"Touch Steering Wheel: No Face Detected",
"",
@@ -392,7 +399,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
},
EventName.promptDriverUnresponsive: {
EventName.driverUnresponsive2: {
ET.PERMANENT: Alert(
"Touch Steering Wheel",
"Driver Unresponsive",
@@ -400,7 +407,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
},
EventName.driverUnresponsive: {
EventName.driverUnresponsive3: {
ET.PERMANENT: Alert(
"DISENGAGE IMMEDIATELY",
"Driver Unresponsive",
@@ -632,7 +639,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
},
EventName.tooDistracted: {
ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
ET.NO_ENTRY: too_distracted_alert,
},
EventName.excessiveActuation: {
@@ -878,14 +885,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
if HARDWARE.get_device_type() == 'mici':
EVENTS.update({
EventName.preDriverDistracted: {
EventName.driverDistracted1: {
ET.PERMANENT: Alert(
"Pay Attention",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, 2),
},
EventName.promptDriverDistracted: {
EventName.driverDistracted2: {
ET.PERMANENT: Alert(
"Pay Attention",
"Driver Distracted",

6
selfdrive/selfdrived/helpers.py
View File

@@ -4,9 +4,9 @@ from enum import StrEnum, auto
from cereal import car, messaging
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.helpers import Pose
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
from opendbc.car.lateral import ISO_LATERAL_ACCEL
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY
from iqdbc.car.lateral import ISO_LATERAL_ACCEL
from iqdbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)

28
selfdrive/selfdrived/selfdrived.py
View File

@@ -54,6 +54,8 @@ 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)
@@ -147,6 +149,7 @@ 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",
@@ -183,7 +186,6 @@ 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, ...] = ()
@@ -205,10 +207,6 @@ 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
@@ -297,8 +295,24 @@ class SelfdriveD(GapButtonActions):
self.events.add(EventName.resumeBlocked)
if not self.CP.notCar:
self._refresh_cached_dm_events()
self._add_event_names(self._cached_dm_event_names)
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_plan_events()
self._add_iq_event_names(self._cached_plan_event_names)

32
selfdrive/selfdrived/tests/test_driver_monitoring.py Normal file
View File

@@ -0,0 +1,32 @@
from types import SimpleNamespace
from cereal import car, log
from openpilot.selfdrive.selfdrived.events import EVENTS, ET
EventName = log.OnroadEvent.EventName
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
def test_driver_monitoring_alert_stages():
expected_sounds = {
EventName.driverDistracted1: AudibleAlert.preAlert,
EventName.driverDistracted2: AudibleAlert.promptDistracted,
EventName.driverDistracted3: AudibleAlert.warningImmediate,
EventName.driverUnresponsive1: AudibleAlert.none,
EventName.driverUnresponsive2: AudibleAlert.promptDistracted,
EventName.driverUnresponsive3: AudibleAlert.warningImmediate,
}
for event_name, audible_alert in expected_sounds.items():
assert EVENTS[event_name][ET.PERMANENT].audible_alert == audible_alert
def test_driver_monitoring_lockout_alert():
callback = EVENTS[EventName.tooDistracted][ET.NO_ENTRY]
sm = {'driverMonitoringState': SimpleNamespace(lockout=True, lockoutMinutesRemaining=5)}
alert = callback(None, None, sm, False, 0, None)
assert alert.alert_text_1 == "5 minutes Left"
assert alert.alert_text_2 == "Too Distracted"