mirror of
https://github.com/firestar5683/StarPilot.git
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72 lines
2.5 KiB
Python
72 lines
2.5 KiB
Python
#!/usr/bin/env python3
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import cereal.messaging as messaging
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from opendbc.car import structs
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from openpilot.common.params import Params
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from openpilot.common.realtime import config_realtime_process
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from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
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GearShifter = structs.CarState.GearShifter
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def get_rhd_override(params):
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return params.get_bool("IsRHD") if params.get_bool("IsRHDOverride") else None
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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', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
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DM = DriverMonitoring(
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rhd_saved=params.get_bool("IsRhdDetected"),
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always_on=params.get_bool("AlwaysOnDM"),
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rhd_override=get_rhd_override(params),
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)
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demo_mode=False
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sm = sm.extend(['starpilotCarState'])
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driver_view_enabled = params.get_bool("IsDriverViewEnabled")
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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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elif driver_view_enabled:
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DM.face_detected = sm['driverStateV2'].leftDriverData.faceProb > DM.settings._FACE_THRESHOLD or sm['driverStateV2'].rightDriverData.faceProb > DM.settings._FACE_THRESHOLD
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# publish
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dat = DM.get_state_packet(valid=valid or driver_view_enabled)
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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.wheel_on_right_default = params.get_bool("IsRhdDetected")
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DM.wheel_on_right_override = get_rhd_override(params)
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demo_mode = params.get_bool("IsDriverViewEnabled") and sm["carState"].gearShifter != GearShifter.reverse
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# save rhd virtual toggle every 5 mins
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if (DM.wheel_on_right_override is None and sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode 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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params.put_bool_nonblocking("IsRHD", 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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