mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
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
|
|
import os
|
|
import time
|
|
import openpilot.cereal.messaging as messaging
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import config_realtime_process
|
|
from openpilot.selfdrive.monitoring.policy import DriverMonitoring
|
|
from openpilot.starpilot.aol.runtime import monitoring_lateral_engaged
|
|
from openpilot.starpilot.feature_runtime import requested as feature_requested
|
|
|
|
|
|
def dmonitoringd_thread():
|
|
config_realtime_process([0, 1, 2, 3], 5)
|
|
|
|
params = Params()
|
|
pm = messaging.PubMaster(['driverMonitoringState'])
|
|
aol_replay = os.getenv('AOL_REPLAY_RUNTIME') == '1' or feature_requested(params, 'aol')
|
|
required = ['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2']
|
|
sm = messaging.SubMaster(required + (['aolAxisState', 'aolSafetyWire'] if aol_replay else []), poll='driverStateV2')
|
|
|
|
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
|
|
demo_mode=False
|
|
|
|
# 20Hz <- dmonitoringmodeld
|
|
while True:
|
|
sm.update()
|
|
if not sm.updated['driverStateV2']:
|
|
# iterate when model has new output
|
|
continue
|
|
|
|
valid = sm.all_checks(required)
|
|
aol_engaged = aol_replay and monitoring_lateral_engaged(sm, now_ns=time.monotonic_ns())
|
|
if demo_mode and sm.valid['driverStateV2']:
|
|
DM.run_step(sm, demo=True)
|
|
elif valid:
|
|
DM.run_step(sm, demo=demo_mode, aol_lateral_engaged=aol_engaged)
|
|
|
|
# publish
|
|
dat = DM.get_state_packet(valid=valid)
|
|
pm.send('driverMonitoringState', dat)
|
|
|
|
# load live always-on toggle
|
|
if sm['driverStateV2'].frameId % 40 == 1:
|
|
DM.always_on = params.get_bool("AlwaysOnDM")
|
|
demo_mode = params.get_bool("IsDriverViewEnabled")
|
|
|
|
# save rhd virtual toggle every 5 mins
|
|
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
|
|
DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
|
DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
|
params.put_bool("IsRhdDetected", DM.wheel_on_right)
|
|
|
|
def main():
|
|
dmonitoringd_thread()
|
|
|
|
|
|
if __name__ == '__main__':
|
|
main()
|