Brian Hanson
e86eafde15
CLAUDE.md: added a "Logging" rule — never use cloudlog (upstream cloud
pipeline, effectively a black hole for us), always use
print(..., file=sys.stderr, flush=True). Manager redirects each process's
stderr to /data/log2/current/{proc}.log. Prefix our lines with "CLP ".
Diagnostic logging — when a publisher sets its own msg.valid=False, log
which specific subscriber tripped the check. Only fires on transition
(True→False) so we don't spam. Covers the services whose cascades we've
been chasing:
- frogpilot_planner (frogpilotPlan)
- longitudinal_planner (longitudinalPlan)
- paramsd (liveParameters)
- calibrationd (liveCalibration)
- torqued (liveTorqueParameters)
- dmonitoringd (driverMonitoringState)
gpsd.is_daylight: fixed a day-boundary bug where the function would flip
to "night" at UTC midnight regardless of actual local sunset. At 85W
sunset is ~00:20 UTC next day, so between local 8pm and actual sunset
the function used *tomorrow's* sunrise/sunset and said night. Now checks
yesterday/today/tomorrow windows with UTC-day offsets.
ui/onroad.cc: nightrider tire-path outline is now light blue (#99CCFF)
at 3px (was white/status-tinted at 6px); lane lines 5% thinner (float
pen width).
thermald/power_monitoring: auto-shutdown timer 10min → 30min.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
100 lines
4.1 KiB
Python
Executable File
100 lines
4.1 KiB
Python
Executable File
#!/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 openpilot.common.params import Params
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from openpilot.common.realtime import set_realtime_priority
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from openpilot.selfdrive.controls.lib.events import Events
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from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
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def dmonitoringd_thread():
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gc.disable()
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set_realtime_priority(2)
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params = Params()
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pm = messaging.PubMaster(['driverMonitoringState'])
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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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v_cruise_last = 0
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driver_engaged = False
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dbg_prev_valid = True # CLEARPILOT: track valid transitions
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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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if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
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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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# CLEARPILOT: log on transition to invalid so we can see which sub caused the cascade
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dm_valid = sm.all_checks()
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if dm_valid != dbg_prev_valid and not dm_valid:
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import sys
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bad = [s for s in sm.alive if not (sm.alive[s] and sm.valid[s] and sm.freq_ok.get(s, True))]
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details = [f"{s}(a={sm.alive[s]},v={sm.valid[s]},f={sm.freq_ok[s]})" for s in bad]
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print(f"CLP driverMonitoringState valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
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dbg_prev_valid = dm_valid
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# build driverMonitoringState packet
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dat = messaging.new_message('driverMonitoringState', valid=dm_valid)
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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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params.put_bool_nonblocking("IsRhdDetected", driver_status.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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