mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 01:53:57 +08:00
02f0f39b52
* get log
* simplify two nonsense
* not needed
* libyuv is a joke
* clean up
* try small
* fast but not bad
* working
* clean up driverview
* simplified
* thats mirrored
* smol
* tweak
* ref is screen
* w/ ee
* update camera model
* no if TICI
* start
* update pose thresh
* less cpu more dsp
* new libyuv
* new snpe
* add files
* test
* should be fast
* update out len
* trigger test
* use master snpe
* add cereal
* update cereal
* refactor parsing
* missing ;
* get
* wrong type
* test model
* use driver data
* 10829278-72fe-4283-a118-2cef959ce174/1550
* no pf
* adapt driverview
* ;
* rhd learner
* update libyuv buildi x64
* ad4337ea
* remove blink slack
* test
* no
* use toggle
* b16
* fix for nv12
* 5b02cff5 both
* update test
* update cereal
* update cereal
* update cereal
* v2 packets
* revert libyuv
* no /
* update snpemodel
* ;
* memcpy
* fix test
* use toggle in driverview
* update power
* update replay
* Revert "update replay"
This reverts commit 1d0979ca59dbc89bc5890656e9501e83f0556d50.
* update model ref
* halve cpu
* fake 8bit onnx runner
* same thresh as report
* cereal master
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: d6c07a6b15
93 lines
3.3 KiB
Python
Executable File
93 lines
3.3 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 cereal import car
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from common.params import Params
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from common.realtime import set_realtime_priority
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from selfdrive.controls.lib.events import Events
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from selfdrive.locationd.calibrationd import Calibration
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from selfdrive.monitoring.driver_monitor import DriverStatus
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def dmonitoringd_thread(sm=None, pm=None):
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gc.disable()
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set_realtime_priority(2)
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if pm is None:
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pm = messaging.PubMaster(['driverMonitoringState'])
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if sm is None:
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sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
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driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
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sm['liveCalibration'].calStatus = Calibration.INVALID
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sm['liveCalibration'].rpyCalib = [0, 0, 0]
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sm['carState'].buttonEvents = []
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sm['carState'].standstill = True
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v_cruise_last = 0
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driver_engaged = False
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# 10Hz <- 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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continue
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# Get interaction
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if sm.updated['carState']:
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v_cruise = sm['carState'].cruiseState.speed
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driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
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v_cruise != v_cruise_last or \
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sm['carState'].steeringPressed or \
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sm['carState'].gasPressed
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v_cruise_last = v_cruise
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if sm.updated['modelV2']:
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driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
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# Get data from dmonitoringmodeld
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events = Events()
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driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
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# Block engaging after max number of distrations
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if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
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driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION:
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events.add(car.CarEvent.EventName.tooDistracted)
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# Update events from driver state
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driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
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# build driverMonitoringState packet
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dat = messaging.new_message('driverMonitoringState')
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dat.driverMonitoringState = {
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"events": events.to_msg(),
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"faceDetected": driver_status.face_detected,
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"isDistracted": driver_status.driver_distracted,
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"distractedType": sum(driver_status.distracted_types),
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"awarenessStatus": driver_status.awareness,
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"posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
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"posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
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"poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
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"poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
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"stepChange": driver_status.step_change,
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"awarenessActive": driver_status.awareness_active,
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"awarenessPassive": driver_status.awareness_passive,
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"isLowStd": driver_status.pose.low_std,
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"hiStdCount": driver_status.hi_stds,
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"isActiveMode": driver_status.active_monitoring_mode,
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"isRHD": driver_status.wheel_on_right,
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}
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pm.send('driverMonitoringState', dat)
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def main(sm=None, pm=None):
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dmonitoringd_thread(sm, pm)
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if __name__ == '__main__':
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main()
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