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Revert fullframe DM model (#24812)

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* Revert "fullframe DM: flip RHD yaw to use matching thresholds"

This reverts commit ce7daabc8847d18ba46e5d1879f5a6958d04ccc7.

* Revert "fullframe DM model (#24762)"

This reverts commit 817be81fb19004f4873881f6b29dcdfffbe7e3a8.

* revert cereal
old-commit-hash: c646eeee0ac54925db5afc51b95c5d869d6dba68
This commit is contained in:
ZwX1616
2022-06-10 16:16:46 -07:00
committed by GitHub
parent 77224f3332
commit c73d4e5fc6
25 changed files with 309 additions and 228 deletions
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selfdrive/monitoring/dmonitoringd.py
+3 -4
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@@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None):
pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None:
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
@@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None):
while True:
sm.update()
if not sm.updated['driverStateV2']:
if not sm.updated['driverState']:
continue
# Get interaction
@@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None):
# Get data from dmonitoringmodeld
events = Events()
driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
@@ -79,7 +79,6 @@ def dmonitoringd_thread(sm=None, pm=None):
"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)