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dm: settings w device type (#36650)

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* dm: settings w device type

* lint

* fix
This commit is contained in:
YassineYousfi
2025-11-19 11:14:04 -08:00
committed by GitHub
parent eeddfc058a
commit 9d0ab68f3b
2 changed files with 5 additions and 9 deletions
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selfdrive/monitoring/helpers.py
+3 -8
View File
@@ -21,7 +21,7 @@ EventName = log.OnroadEvent.EventName
# ******************************************************************************************
class DRIVER_MONITOR_SETTINGS:
def __init__(self):
def __init__(self, device_type):
self._DT_DMON = DT_DMON
# ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
@@ -36,10 +36,7 @@ class DRIVER_MONITOR_SETTINGS:
self._SG_THRESHOLD = 0.9
self._BLINK_THRESHOLD = 0.865
if HARDWARE.get_device_type() == 'mici':
self._PHONE_THRESH = 0.75
else:
self._PHONE_THRESH = 0.4
self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
self._PHONE_THRESH2 = 15.0
self._PHONE_MAX_OFFSET = 0.06
self._PHONE_MIN_OFFSET = 0.025
@@ -133,10 +130,8 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
class DriverMonitoring:
def __init__(self, rhd_saved=False, settings=None, always_on=False):
if settings is None:
settings = DRIVER_MONITOR_SETTINGS()
# init policy settings
self.settings = settings
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
# init driver status
self.wheelpos_learner = RunningStatFilter()
selfdrive/monitoring/test_monitoring.py
+2 -1
View File
@@ -3,9 +3,10 @@ import numpy as np
from cereal import log
from openpilot.common.realtime import DT_DMON
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
from openpilot.system.hardware import HARDWARE
EventName = log.OnroadEvent.EventName
dm_settings = DRIVER_MONITOR_SETTINGS()
dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
TEST_TIMESPAN = 120 # seconds
DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1