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Fixed dpdmonitoringd.py

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This commit is contained in:
eFini
2023-12-29 23:31:08 +08:00
committed by GitHub
parent 7ee7cb59b3
commit 9b747565eb
1 changed files with 8 additions and 3 deletions
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selfdrive/dragonpilot/dpdmonitoringd.py
+8 -3
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@@ -5,10 +5,13 @@ import time
import cereal.messaging as messaging
from openpilot.common.realtime import set_realtime_priority, DT_DMON
from openpilot.common.params import Params
from openpilot.selfdrive.controls.lib.events import Events
def dmonitoringd_thread(sm=None, pm=None):
Params().put_bool("DmModelInitialized", True);
params = Params()
params.put_bool("DmModelInitialized", True)
is_rhd_detected = params.get_bool("IsRhdDetected")
gc.disable()
set_realtime_priority(2)
@@ -17,18 +20,20 @@ def dmonitoringd_thread(sm=None, pm=None):
# 10Hz <- dmonitoringmodeld
while True:
dat = messaging.new_message('driverStateV2')
dat = messaging.new_message('driverStateV2', valid=True)
dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
dat.driverStateV2.leftDriverData.faceProb = 1.0
dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
dat.driverStateV2.rightDriverData.faceProb = 1.0
pm.send('driverStateV2', dat)
dat = messaging.new_message('driverMonitoringState')
dat = messaging.new_message('driverMonitoringState', valid=True)
dat.driverMonitoringState = {
"events": Events().to_msg(),
"faceDetected": True,
"isDistracted": False,
"awarenessStatus": 1.,
"isRHD": is_rhd_detected,
}
pm.send('driverMonitoringState', dat)
time.sleep(DT_DMON)