You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
101 lines
3.7 KiB
101 lines
3.7 KiB
#!/usr/bin/env python3
|
|
import gc
|
|
from cereal import car
|
|
from common.realtime import set_realtime_priority
|
|
from common.params import Params
|
|
import cereal.messaging as messaging
|
|
from selfdrive.controls.lib.events import Events
|
|
from selfdrive.monitoring.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
|
|
from selfdrive.locationd.calibration_helpers import Calibration
|
|
|
|
|
|
def dmonitoringd_thread(sm=None, pm=None):
|
|
gc.disable()
|
|
set_realtime_priority(53)
|
|
|
|
# Pub/Sub Sockets
|
|
if pm is None:
|
|
pm = messaging.PubMaster(['dMonitoringState'])
|
|
|
|
if sm is None:
|
|
sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'])
|
|
|
|
params = Params()
|
|
|
|
driver_status = DriverStatus()
|
|
is_rhd = params.get("IsRHD")
|
|
driver_status.is_rhd_region = is_rhd == b"1"
|
|
driver_status.is_rhd_region_checked = is_rhd is not None
|
|
|
|
sm['liveCalibration'].calStatus = Calibration.INVALID
|
|
sm['liveCalibration'].rpyCalib = [0, 0, 0]
|
|
sm['carState'].vEgo = 0.
|
|
sm['carState'].cruiseState.enabled = False
|
|
sm['carState'].cruiseState.speed = 0.
|
|
sm['carState'].buttonEvents = []
|
|
sm['carState'].steeringPressed = False
|
|
sm['carState'].gasPressed = False
|
|
sm['carState'].standstill = True
|
|
|
|
v_cruise_last = 0
|
|
driver_engaged = False
|
|
offroad = params.get("IsOffroad") == b"1"
|
|
|
|
# 10Hz <- dmonitoringmodeld
|
|
while True:
|
|
sm.update()
|
|
|
|
# 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
|
|
if driver_engaged:
|
|
driver_status.update(Events(), True, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
|
|
v_cruise_last = v_cruise
|
|
|
|
# Get model meta
|
|
if sm.updated['model']:
|
|
driver_status.set_policy(sm['model'])
|
|
|
|
# Get data from dmonitoringmodeld
|
|
if sm.updated['driverState']:
|
|
events = Events()
|
|
driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)
|
|
|
|
# Block engaging after max number of distrations
|
|
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
|
|
events.add(car.CarEvent.EventName.tooDistracted)
|
|
|
|
# Update events from driver state
|
|
driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
|
|
|
|
# build dMonitoringState packet
|
|
dat = messaging.new_message('dMonitoringState')
|
|
dat.dMonitoringState = {
|
|
"events": events.to_msg(),
|
|
"faceDetected": driver_status.face_detected,
|
|
"isDistracted": driver_status.driver_distracted,
|
|
"awarenessStatus": driver_status.awareness,
|
|
"isRHD": driver_status.is_rhd_region,
|
|
"rhdChecked": driver_status.is_rhd_region_checked,
|
|
"posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
|
|
"posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
|
|
"poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
|
|
"poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
|
|
"stepChange": driver_status.step_change,
|
|
"awarenessActive": driver_status.awareness_active,
|
|
"awarenessPassive": driver_status.awareness_passive,
|
|
"isLowStd": driver_status.pose.low_std,
|
|
"hiStdCount": driver_status.hi_stds,
|
|
"isPreview": offroad,
|
|
}
|
|
pm.send('dMonitoringState', dat)
|
|
|
|
def main(sm=None, pm=None):
|
|
dmonitoringd_thread(sm, pm)
|
|
|
|
if __name__ == '__main__':
|
|
main()
|
|
|