From 1f9bc952bfa3fa2e6be58a7f3762f5d8f5073125 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 17 May 2024 21:38:03 -0700 Subject: [PATCH] dmonitoringd: don't check for buttonEvents or vCruise change (#32454) * drop check for carState.buttonEvents * 100% people not use this * huge oof * ref comit --------- Co-authored-by: Shane Smiskol old-commit-hash: 8e87655a128f6b2ebcc6fdcf639167d647c99fe0 --- selfdrive/monitoring/dmonitoringd.py | 9 ++------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 8 deletions(-) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index c18bbf29b9..91a4932584 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -19,7 +19,6 @@ def dmonitoringd_thread(): driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) - v_cruise_last = 0 driver_engaged = False # 20Hz <- dmonitoringmodeld @@ -30,12 +29,8 @@ def dmonitoringd_thread(): # Get interaction if sm.updated['carState']: - v_cruise = sm['carState'].cruiseState.speed - driver_engaged = len(sm['carState'].buttonEvents) > 0 or \ - v_cruise != v_cruise_last or \ - sm['carState'].steeringPressed or \ - sm['carState'].gasPressed - v_cruise_last = v_cruise + driver_engaged = sm['carState'].steeringPressed or \ + sm['carState'].gasPressed if sm.updated['modelV2']: driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a61fd8e23b..3fc6acc3cb 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e5a385503e4307ae77c73736a602380b08e61334 +f1ecdf9048fb12e289baf4933cb3ef12e486252c