修正 dashcamd 和 safetyguard 邏輯

selfdrive/controls/lib/driver_monitor.py

@@ -145,7 +145,7 @@ class DriverStatus():
        not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
       self.awareness = max(self.awareness - self.step_change, -0.1)
 
-    if params.get("DragonDisableDriverSafetyCheck") == "0":
+    if params.get("DragonDisableDriverSafetyCheck") == "1":
       alert = None
       if self.awareness <= 0.:
         # terminal red alert: disengagement required

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -27,14 +27,12 @@ def main(gctx=None):
   if not os.path.exists(dashcam_videos):
     os.makedirs(dashcam_videos)
 
-  context = zmq.Context()
-  thermal_sock = messaging.sub_sock(context, service_list['thermal'].port)
+  poller = zmq.Poller()
+  sock = messaging.sub_sock(service_list['thermal'].port, poller)
+  poller.poll(timeout=1000)
 
   while 1:
     if params.get("DragonEnableDashcam") == "1":
-      # get health of board, log this in "thermal"
-      msg = messaging.recv_sock(thermal_sock, wait=True)
-
       now = datetime.datetime.now()
       file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
       os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))
@@ -45,13 +43,14 @@ def main(gctx=None):
       # we should clean up files here if use too much spaces
       # when used spaces greater than max available storage
       # or when free space is less than 10%
-      print(used_spaces)
-      print(max_storage)
-      if used_spaces >= max_storage or msg.thermal.freeSpace < freespace_limit:
+
+      # get health of board, log this in "thermal"
+      msg = messaging.recv_sock(sock, wait=True)
+      if used_spaces >= max_storage or (msg is not None and msg.thermal.freeSpace < freespace_limit):
         # get all the files in the dashcam_videos path
         files = [f for f in sorted(os.listdir(dashcam_videos)) if os.path.isfile(dashcam_videos + f)]
         for file in files:
-          msg = messaging.recv_sock(thermal_sock, wait=True)
+          msg = messaging.recv_sock(sock, wait=True)
           # delete file one by one and once it has enough space for 1 video, we stop deleting
           if used_spaces - last_used_spaces < max_size_per_file or msg.thermal.freeSpace < freespace_limit:
             os.system("rm -fr %s" % (dashcam_videos + file))

selfdrive/dragonpilot/safeguardd/safeguardd.py

@@ -15,9 +15,9 @@ mediaplayer = '/data/openpilot/selfdrive/dragonpilot/mediaplayer/'
 
 def main(gctx=None):
 
-  context = zmq.Context()
   poller = zmq.Poller()
-  controls_state_sock = messaging.sub_sock(context, service_list['controlsState'].port, conflate=True, poller=poller)
+  sock = messaging.sub_sock(service_list['controlsState'].port, poller)
+  poller.poll(timeout=1000)
 
   last_v_ego = 0.
   last_active = False
@@ -27,22 +27,18 @@ def main(gctx=None):
 
   while 1:
 
-    controls_state = None
     v_ego = 0
     active = False
-
-    for socket, event in poller.poll(100):
-      if socket is controls_state_sock:
-        controls_state = messaging.recv_one(socket)
+    controls_state = messaging.recv_sock(sock, wait=True)
 
     if controls_state is not None:
       v_ego = controls_state.controlsState.vEgo
       active = controls_state.controlsState.active
 
-    # we are driving and all of sudden we dont have any speed at all
-    # we better warn the driver before it's too late
-    if last_active and last_v_ego >= 5 and v_ego == 0:
-      subprocess.Popen([mediaplayer + 'mediaplayer', '/data/openpilot/selfdrive/dragonpilot/safeguardd/error.wav'], shell = False, stdin=None, stdout=None, stderr=None, env = env, close_fds=True)
+      # we are driving and all of sudden we dont have any speed at all
+      # we better warn the driver before it's too late
+      if last_active and last_v_ego >= 5 and v_ego == 0:
+        subprocess.Popen([mediaplayer + 'mediaplayer', '/data/openpilot/selfdrive/dragonpilot/safeguardd/error.wav'], shell = False, stdin=None, stdout=None, stderr=None, env = env, close_fds=True)
 
     last_active = active
     last_v_ego = v_ego