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Deprecate controlsState state fields (#33437)

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* Deprecate controlsState state fields

* sim works

* update refs

* one more

* these too

* update sim
old-commit-hash: 3924ac587b735d1e735af4cb77faf6ccf053f656
This commit is contained in:
Adeeb Shihadeh
2024-09-03 14:40:23 -07:00
committed by GitHub
parent 53288d4dbf
commit bd2b09c7b6
18 changed files with 60 additions and 74 deletions
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selfdrive/monitoring/dmonitoringd.py
+1 -1
View File
@@ -13,7 +13,7 @@ def dmonitoringd_thread():
params = Params()
pm = messaging.PubMaster(['driverMonitoringState'])
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
selfdrive/monitoring/helpers.py
+2 -2
View File
@@ -403,13 +403,13 @@ class DriverMonitoring:
driver_state=sm['driverStateV2'],
cal_rpy=sm['liveCalibration'].rpyCalib,
car_speed=sm['carState'].vEgo,
op_engaged=sm['controlsState'].enabled
op_engaged=sm['selfdriveState'].enabled
)
# Update distraction events
self._update_events(
driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
op_engaged=sm['controlsState'].enabled,
op_engaged=sm['selfdriveState'].enabled,
standstill=sm['carState'].standstill,
wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
car_speed=sm['carState'].vEgo