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97 lines
3.7 KiB
97 lines
3.7 KiB
#!/usr/bin/env python3
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import gc
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import cereal.messaging as messaging
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from cereal import car
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from cereal import log
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from common.params import Params, put_bool_nonblocking
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from common.realtime import set_realtime_priority
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from selfdrive.controls.lib.events import Events
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from selfdrive.monitoring.driver_monitor import DriverStatus
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def dmonitoringd_thread(sm=None, pm=None):
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gc.disable()
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set_realtime_priority(2)
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if pm is None:
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pm = messaging.PubMaster(['driverMonitoringState'])
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if sm is None:
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sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
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driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
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sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid
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sm['liveCalibration'].rpyCalib = [0, 0, 0]
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sm['carState'].buttonEvents = []
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sm['carState'].standstill = True
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v_cruise_last = 0
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driver_engaged = False
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# 10Hz <- 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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continue
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# Get interaction
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if sm.updated['carState']:
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v_cruise = sm['carState'].cruiseState.speed
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driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
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v_cruise != v_cruise_last or \
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sm['carState'].steeringPressed or \
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sm['carState'].gasPressed
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v_cruise_last = v_cruise
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if sm.updated['modelV2']:
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driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
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# Get data from dmonitoringmodeld
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events = Events()
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driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
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# Block engaging after max number of distrations
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if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
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driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION:
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events.add(car.CarEvent.EventName.tooDistracted)
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# Update events from driver state
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driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
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# build driverMonitoringState packet
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dat = messaging.new_message('driverMonitoringState')
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dat.driverMonitoringState = {
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"events": events.to_msg(),
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"faceDetected": driver_status.face_detected,
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"isDistracted": driver_status.driver_distracted,
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"distractedType": sum(driver_status.distracted_types),
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"awarenessStatus": driver_status.awareness,
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"posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
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"posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
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"poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
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"poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
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"stepChange": driver_status.step_change,
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"awarenessActive": driver_status.awareness_active,
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"awarenessPassive": driver_status.awareness_passive,
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"isLowStd": driver_status.pose.low_std,
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"hiStdCount": driver_status.hi_stds,
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"isActiveMode": driver_status.active_monitoring_mode,
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"isRHD": driver_status.wheel_on_right,
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}
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pm.send('driverMonitoringState', dat)
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# save rhd virtual toggle every 5 mins
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if (sm['driverStateV2'].frameId % 6000 == 0 and
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driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
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driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
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put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
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def main(sm=None, pm=None):
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dmonitoringd_thread(sm, pm)
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if __name__ == '__main__':
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main()
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