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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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59
selfdrive/test/process_replay/migration.py
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@@ -6,11 +6,11 @@ import functools
import traceback
from cereal import messaging, car, log
from opendbc.car.fingerprints import MIGRATION
from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
from opendbc.car.hyundai.values import HyundaiSafetyFlags
from opendbc.car.gm.values import GMSafetyFlags
from iqdbc.car.fingerprints import MIGRATION
from iqdbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
from iqdbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
from iqdbc.car.hyundai.values import HyundaiSafetyFlags
from iqdbc.car.gm.values import GMSafetyFlags
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -455,21 +455,46 @@ def migrate_onroadEvents(msgs):
return ops, [], []
@migration(inputs=["driverMonitoringState"])
@migration(inputs=["driverMonitoringStateDEPRECATED"])
def migrate_driverMonitoringState(msgs):
ops = []
for index, msg in msgs:
msg = msg.as_builder()
events = []
for event in msg.driverMonitoringState.eventsDEPRECATED:
try:
if not str(event.name).endswith('DEPRECATED'):
# dict converts name enum into string representation
events.append(log.OnroadEvent(**event.to_dict()))
except RuntimeError: # Member was null
traceback.print_exc()
old = msg.driverMonitoringStateDEPRECATED
new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
dm = new_msg.driverMonitoringState
dm.isRHD = old.isRHD
dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
log.DriverMonitoringState.MonitoringPolicy.wheeltouch
msg.driverMonitoringState.events = events
ops.append((index, msg.as_reader()))
AlertLevel = log.DriverMonitoringState.AlertLevel
event_to_alert_level = {
'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
}
for event in old.events:
level = event_to_alert_level.get(str(event.name))
if level is not None:
dm.alertLevel = level
break
dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
dm.visionPolicyState.isDistracted = old.isDistracted
dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
dm.visionPolicyState.faceDetected = old.faceDetected
dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
ops.append((index, new_msg.as_reader()))
return ops, [], []