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DM: Enforce monitoring of MADS state in driver monitoring (#818)

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* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how
This commit is contained in:
Jason Wen
2025-04-14 14:50:21 -04:00
committed by GitHub
parent b41ace34cc
commit 3615b1a203
2 changed files with 4 additions and 3 deletions
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selfdrive/monitoring/dmonitoringd.py
+2 -1
View File
@@ -10,7 +10,8 @@ def dmonitoringd_thread():
params = Params()
pm = messaging.PubMaster(['driverMonitoringState'])
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
'selfdriveStateSP'], poll='driverStateV2')
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
selfdrive/monitoring/helpers.py
+2 -2
View File
@@ -403,13 +403,13 @@ class DriverMonitoring:
driver_state=sm['driverStateV2'],
cal_rpy=sm['liveCalibration'].rpyCalib,
car_speed=sm['carState'].vEgo,
op_engaged=sm['selfdriveState'].enabled
op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled
)
# Update distraction events
self._update_events(
driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
op_engaged=sm['selfdriveState'].enabled,
op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled,
standstill=sm['carState'].standstill,
wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
car_speed=sm['carState'].vEgo