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