mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
b011a1fdcd
Connect shared feature owners to vehicle and control processes. Migrate retired settings once before startup consumers while preserving effective preferences and vehicle-specific numeric adjustments.
59 lines
2.1 KiB
Python
Executable File
59 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import time
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import openpilot.cereal.messaging as messaging
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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.policy import DriverMonitoring
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from openpilot.starpilot.aol.runtime import monitoring_lateral_engaged
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from openpilot.starpilot.feature_runtime import requested as feature_requested
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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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aol_replay = os.getenv('AOL_REPLAY_RUNTIME') == '1' or feature_requested(params, 'aol')
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required = ['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2']
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sm = messaging.SubMaster(required + (['aolAxisState', 'aolSafetyWire'] if aol_replay else []), poll='driverStateV2')
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DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
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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(required)
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aol_engaged = aol_replay and monitoring_lateral_engaged(sm, now_ns=time.monotonic_ns())
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if demo_mode and sm.valid['driverStateV2']:
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DM.run_step(sm, demo=True)
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elif valid:
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DM.run_step(sm, demo=demo_mode, aol_lateral_engaged=aol_engaged)
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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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demo_mode = params.get_bool("IsDriverViewEnabled")
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# save rhd virtual toggle every 5 mins
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if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
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DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
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DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
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params.put_bool("IsRhdDetected", 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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