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58 lines
2.1 KiB
Python
Executable File
58 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import iqpilot.cereal.messaging as messaging
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from iqpilot.common.params import Params
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from iqpilot.common.realtime import config_realtime_process
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from iqpilot.selfdrive.monitoring.helpers import DriverMonitoring
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def dmonitoringd_thread():
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config_realtime_process([0, 1, 2, 3], 5)
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params = Params()
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pm = messaging.PubMaster(['driverMonitoringState'])
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sm = messaging.SubMaster(['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2',
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'carControl'], poll='driverStateV2')
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rhd_saved = params.get_bool("IsRhdDetected")
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DM = DriverMonitoring(rhd_saved=rhd_saved, always_on=params.get_bool("AlwaysOnDM"),
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force_rhd=params.get_bool("ForceRHDForBSM"))
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demo_mode=False
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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 demo_mode and sm.valid['driverStateV2']:
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DM.run_step(sm, demo=demo_mode)
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elif valid:
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DM.run_step(sm, demo=demo_mode)
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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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# 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.force_rhd = params.get_bool("ForceRHDForBSM")
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demo_mode = params.get_bool("IsDriverViewEnabled")
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# persist as soon as the estimate converges: the next drive starts on the right seat, and the
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# driving model gets the right traffic convention from the first frame instead of after a minute
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if (not demo_mode and not DM.force_rhd and DM.wheel_on_right != rhd_saved and
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DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
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DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
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params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
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rhd_saved = 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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