51 lines
1.5 KiB
Python
Executable File
51 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import gc
|
|
|
|
import cereal.messaging as messaging
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import set_realtime_priority
|
|
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
|
|
|
|
|
|
def dmonitoringd_thread():
|
|
gc.disable()
|
|
set_realtime_priority(2)
|
|
|
|
params = Params()
|
|
pm = messaging.PubMaster(['driverMonitoringState'])
|
|
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
|
|
|
|
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
|
|
|
|
# 20Hz <- dmonitoringmodeld
|
|
while True:
|
|
sm.update()
|
|
if not sm.updated['driverStateV2']:
|
|
# iterate when model has new output
|
|
continue
|
|
|
|
valid = sm.all_checks()
|
|
if valid:
|
|
DM.run_step(sm)
|
|
|
|
# publish
|
|
dat = DM.get_state_packet(valid=valid)
|
|
pm.send('driverMonitoringState', dat)
|
|
|
|
# load live always-on toggle
|
|
if sm['driverStateV2'].frameId % 40 == 1:
|
|
DM.always_on = params.get_bool("AlwaysOnDM")
|
|
|
|
# save rhd virtual toggle every 5 mins
|
|
if (sm['driverStateV2'].frameId % 6000 == 0 and
|
|
DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
|
DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
|
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
|
|
|
|
def main():
|
|
dmonitoringd_thread()
|
|
|
|
|
|
if __name__ == '__main__':
|
|
main()
|