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fix rhd behavior during preview/onboarding (#36657)

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* rhd learning not required for demo

* fix switching and saving

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
ZwX1616
2025-11-20 13:42:20 -08:00
committed by GitHub
parent 38697ac628
commit be700bc825
2 changed files with 5 additions and 4 deletions
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selfdrive/monitoring/dmonitoringd.py
+1 -1
View File
@@ -38,7 +38,7 @@ def dmonitoringd_thread():
demo_mode = params.get_bool("IsDriverViewEnabled")
# save rhd virtual toggle every 5 mins
if (sm['driverStateV2'].frameId % 6000 == 0 and
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
selfdrive/monitoring/helpers.py
+4 -3
View File
@@ -251,18 +251,18 @@ class DriverMonitoring:
return distracted_types
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill):
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
rhd_pred = driver_state.wheelOnRightProb
# calibrates only when there's movement and either face detected
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
self.wheelpos_learner.push_and_update(rhd_pred)
if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
else:
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
# make sure no switching when engaged
if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right:
if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
self.wheel_on_right = self.wheel_on_right_last
driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
@@ -448,6 +448,7 @@ class DriverMonitoring:
car_speed=highway_speed,
op_engaged=enabled,
standstill=standstill,
demo_mode=demo,
)
# Update distraction events