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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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28
selfdrive/selfdrived/selfdrived.py
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@@ -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)