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migration: fix missing and wrong fields in driverMonitoringStateDEPRECATED (#38105)

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ZwX1616
2026-05-29 14:59:52 -07:00
committed by GitHub
parent 4df40d2c19
commit 417efb3c05
1 changed files with 9 additions and 4 deletions
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selfdrive/test/process_replay/migration.py
+9 -4
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@@ -499,23 +499,28 @@ def migrate_driverMonitoringState(msgs):
'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
'tooDistracted': AlertLevel.three,
}
for event in old.events:
level = event_to_alert_level.get(str(event.name))
if level is not None:
dm.alertLevel = level
break
dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
dm.visionPolicyState.isDistracted = old.isDistracted
dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
dm.visionPolicyState.faceDetected = old.faceDetected
dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 600 * 100))
dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 600 * 100))
dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 600 and old.poseYawValidCount >= 600
dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
ops.append((index, as_reader(new_msg)))