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dragonpilot
44 lines
1.2 KiB
Python
Executable File
44 lines
1.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import gc
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import time
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import cereal.messaging as messaging
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from openpilot.common.realtime import set_realtime_priority, DT_DMON
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from openpilot.common.params import Params
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from openpilot.selfdrive.controls.lib.events import Events
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def dmonitoringd_thread(sm=None, pm=None):
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Params().put_bool("DmModelInitialized", True)
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gc.disable()
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set_realtime_priority(2)
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if pm is None:
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pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
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# 10Hz <- dmonitoringmodeld
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while True:
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dat = messaging.new_message('driverStateV2', valid=True)
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dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
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dat.driverStateV2.leftDriverData.faceProb = 1.0
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dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
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dat.driverStateV2.rightDriverData.faceProb = 1.0
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pm.send('driverStateV2', dat)
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dat = messaging.new_message('driverMonitoringState', valid=True)
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dat.driverMonitoringState = {
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"events": Events().to_msg(),
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"faceDetected": True,
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"isDistracted": False,
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"awarenessStatus": 1.,
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}
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pm.send('driverMonitoringState', dat)
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time.sleep(DT_DMON)
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def main(sm=None, pm=None):
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dmonitoringd_thread(sm, pm)
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if __name__ == '__main__':
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main()
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