mouxangithub
b40c885c6a
将原有 TOYOTA_WILDLANDER 车型标识重命名为 TOYOTA_WILDLANDER_PHEV， 并更新相关指纹、平台名称和测试路由配置。同时增加该车型的 SRS 和 Hybrid ECU 固件版本信息。 此外，修改 dmonitoringd.py 中的监控逻辑，使在 always_on 模式下也能执行 DM.run_step 流程。 还更新了 launch_openpilot.sh 中的 API 和 ATHENA 服务地址。
49 lines
1.5 KiB
Python
Executable File
49 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import 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.helpers 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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# 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 DM.always_on and valid:
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DM.run_step(sm)
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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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# save rhd virtual toggle every 5 mins
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if (sm['driverStateV2'].frameId % 6000 == 0 and
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DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
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DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
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params.put_bool_nonblocking("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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