mirror of
https://github.com/sunnypilot/sunnypilot.git
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Jason Wen
14318d2f09
# Conflicts: # .github/labeler.yaml # .github/workflows/auto_pr_review.yaml # .github/workflows/docs.yaml # .github/workflows/release.yaml # .github/workflows/repo-maintenance.yaml # .github/workflows/tests.yaml # .github/workflows/ui_preview.yaml # README.md # SConstruct # conftest.py # docs/CARS.md # msgq_repo # opendbc_repo # openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py # openpilot/common/api.py # openpilot/common/hardware/hw.py # openpilot/common/version.py # openpilot/selfdrive/assets/fonts/Audiowide-Regular.ttf # openpilot/selfdrive/assets/sounds/prompt_single_high.wav # openpilot/selfdrive/assets/sounds/prompt_single_low.wav # openpilot/selfdrive/car/card.py # openpilot/selfdrive/car/helpers.py # openpilot/selfdrive/car/tests/test_car_interfaces.py # openpilot/selfdrive/car/tests/test_cruise_speed.py # openpilot/selfdrive/controls/lib/desire_helper.py # openpilot/selfdrive/controls/lib/longcontrol.py # openpilot/selfdrive/controls/plannerd.py # openpilot/selfdrive/controls/radard.py # openpilot/selfdrive/controls/tests/test_longcontrol.py # openpilot/selfdrive/modeld/compile_warp.py # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/monitoring/policy.py # openpilot/selfdrive/monitoring/test_monitoring.py # openpilot/selfdrive/selfdrived/events.py # openpilot/selfdrive/selfdrived/selfdrived.py # openpilot/selfdrive/ui/layouts/onboarding.py # openpilot/selfdrive/ui/mici/layouts/onboarding.py # openpilot/selfdrive/ui/soundd.py # openpilot/selfdrive/ui/tests/diff/replay.py # openpilot/selfdrive/ui/translations/app.pot # openpilot/system/athena/athenad.py # openpilot/system/athena/manage_athenad.py # openpilot/system/hardware/hardwared.py # openpilot/system/loggerd/config.py # openpilot/system/manager/github_runner.sh # openpilot/system/manager/manager.py # openpilot/system/updated/updated.py # panda # pyproject.toml # scripts/lint/lint.sh # system/manager/process_config.py # system/statsd.py # tinygrad_repo # tools/release/build_release.sh # tools/release/build_stripped.sh # uv.lock
53 lines
1.7 KiB
Python
Executable File
53 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import openpilot.cereal.messaging as messaging
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from openpilot.common.params import Params
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from openpilot.common.realtime import config_realtime_process
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from openpilot.selfdrive.monitoring.policy import DriverMonitoring
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def dmonitoringd_thread():
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config_realtime_process([0, 1, 2, 3], 5)
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params = Params()
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pm = messaging.PubMaster(['driverMonitoringState'])
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sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
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'carControl'], poll='driverStateV2')
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DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
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demo_mode=False
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# 20Hz <- dmonitoringmodeld
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while True:
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sm.update()
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if not sm.updated['driverStateV2']:
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# iterate when model has new output
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continue
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valid = sm.all_checks()
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if demo_mode and sm.valid['driverStateV2']:
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DM.run_step(sm, demo=True)
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elif valid:
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DM.run_step(sm, demo=demo_mode)
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# publish
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dat = DM.get_state_packet(valid=valid)
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pm.send('driverMonitoringState', dat)
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# load live always-on toggle
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if sm['driverStateV2'].frameId % 40 == 1:
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DM.always_on = params.get_bool("AlwaysOnDM")
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demo_mode = params.get_bool("IsDriverViewEnabled")
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# save rhd virtual toggle every 5 mins
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if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
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DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
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DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
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params.put_bool("IsRhdDetected", DM.wheel_on_right)
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def main():
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dmonitoringd_thread()
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if __name__ == '__main__':
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main()
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