112 lines
4.9 KiB
Python
Executable File
112 lines
4.9 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import gc
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import car
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import set_realtime_priority
|
|
from openpilot.selfdrive.controls.lib.events import Events
|
|
from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
|
|
from openpilot.selfdrive.monitoring.hands_on_wheel_monitor import HandsOnWheelStatus
|
|
|
|
|
|
def dmonitoringd_thread():
|
|
gc.disable()
|
|
set_realtime_priority(2)
|
|
|
|
params = Params()
|
|
pm = messaging.PubMaster(['driverMonitoringState', 'driverMonitoringStateSP'])
|
|
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
|
|
|
|
driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
|
|
hands_on_wheel_status = HandsOnWheelStatus()
|
|
|
|
v_cruise_last = 0
|
|
driver_engaged = False
|
|
steering_wheel_engaged = False
|
|
hands_on_wheel_monitoring_enabled = params.get_bool("HandsOnWheelMonitoring")
|
|
|
|
# 20Hz <- dmonitoringmodeld
|
|
while True:
|
|
sm.update()
|
|
if not sm.updated['driverStateV2']:
|
|
continue
|
|
|
|
# Get interaction
|
|
if sm.updated['carState']:
|
|
v_cruise = sm['carState'].cruiseState.speed
|
|
steering_wheel_engaged = len(sm['carState'].buttonEvents) > 0 or \
|
|
v_cruise != v_cruise_last or \
|
|
sm['carState'].steeringPressed
|
|
driver_engaged = steering_wheel_engaged or sm['carState'].gasPressed
|
|
# Update events and state from hands on wheel monitoring status when steering wheel in engaged
|
|
if steering_wheel_engaged and hands_on_wheel_monitoring_enabled:
|
|
hands_on_wheel_status.update(Events(), True, sm['controlsState'].enabled, sm['carState'].vEgo)
|
|
v_cruise_last = v_cruise
|
|
|
|
if sm.updated['modelV2']:
|
|
driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
|
|
|
|
# Get data from dmonitoringmodeld
|
|
events = Events()
|
|
|
|
if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
|
|
driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
|
|
|
|
# Block engaging after max number of distrations or when alert active
|
|
if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
|
|
driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION or \
|
|
driver_status.always_on and driver_status.awareness <= driver_status.threshold_prompt:
|
|
events.add(car.CarEvent.EventName.tooDistracted)
|
|
|
|
# Update events from driver state
|
|
driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled,
|
|
sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], sm['carState'].vEgo)
|
|
# Update events and state from hands on wheel monitoring status
|
|
if hands_on_wheel_monitoring_enabled:
|
|
hands_on_wheel_status.update(events, steering_wheel_engaged, sm['controlsState'].enabled, sm['carState'].vEgo)
|
|
|
|
# build driverMonitoringState packet
|
|
dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
|
|
dat.driverMonitoringState = {
|
|
"events": events.to_msg(),
|
|
"faceDetected": driver_status.face_detected,
|
|
"isDistracted": driver_status.driver_distracted,
|
|
"distractedType": sum(driver_status.distracted_types),
|
|
"awarenessStatus": driver_status.awareness,
|
|
"posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
|
|
"posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
|
|
"poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
|
|
"poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
|
|
"stepChange": driver_status.step_change,
|
|
"awarenessActive": driver_status.awareness_active,
|
|
"awarenessPassive": driver_status.awareness_passive,
|
|
"isLowStd": driver_status.pose.low_std,
|
|
"hiStdCount": driver_status.hi_stds,
|
|
"isActiveMode": driver_status.active_monitoring_mode,
|
|
"isRHD": driver_status.wheel_on_right,
|
|
}
|
|
pm.send('driverMonitoringState', dat)
|
|
|
|
if sm['driverStateV2'].frameId % 40 == 1:
|
|
driver_status.always_on = params.get_bool("AlwaysOnDM")
|
|
|
|
sp_dat = messaging.new_message('driverMonitoringStateSP')
|
|
sp_dat.driverMonitoringStateSP = {
|
|
"handsOnWheelState": hands_on_wheel_status.hands_on_wheel_state,
|
|
}
|
|
pm.send('driverMonitoringStateSP', sp_dat)
|
|
|
|
# save rhd virtual toggle every 5 mins
|
|
if (sm['driverStateV2'].frameId % 6000 == 0 and
|
|
driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
|
|
driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
|
|
params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
|
|
|
|
def main():
|
|
dmonitoringd_thread()
|
|
|
|
|
|
if __name__ == '__main__':
|
|
main()
|