openpilot v0.7.8 release

selfdrive/monitoring/dmonitoringd.py

@@ -8,14 +8,11 @@ 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()
-
-  # start the loop
   set_realtime_priority(53)
 
-  params = Params()
-
   # Pub/Sub Sockets
   if pm is None:
     pm = messaging.PubMaster(['dMonitoringState'])
@@ -23,40 +20,38 @@ def dmonitoringd_thread(sm=None, pm=None):
   if sm is None:
     sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'])
 
+  params = Params()
+
   driver_status = DriverStatus()
   is_rhd = params.get("IsRHD")
-  if is_rhd is not None:
-    driver_status.is_rhd_region = bool(int(is_rhd))
-    driver_status.is_rhd_region_checked = True
+  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
 
-  cal_rpy = [0, 0, 0]
   v_cruise_last = 0
   driver_engaged = False
+  offroad = params.get("IsOffroad") == b"1"
 
   # 10Hz <- dmonitoringmodeld
   while True:
     sm.update()
 
-    # Handle calibration
-    if sm.updated['liveCalibration']:
-      if sm['liveCalibration'].calStatus == Calibration.CALIBRATED:
-        if len(sm['liveCalibration'].rpyCalib) == 3:
-          cal_rpy = sm['liveCalibration'].rpyCalib
-
     # 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
+                        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
@@ -68,14 +63,16 @@ def dmonitoringd_thread(sm=None, pm=None):
     # Get data from dmonitoringmodeld
     if sm.updated['driverState']:
       events = Events()
-      driver_status.get_pose(sm['driverState'], cal_rpy, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)
-      # Block any engage after certain distrations
+      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)
 
-      # dMonitoringState packet
+      # build dMonitoringState packet
       dat = messaging.new_message('dMonitoringState')
       dat.dMonitoringState = {
         "events": events.to_msg(),
@@ -93,7 +90,7 @@ def dmonitoringd_thread(sm=None, pm=None):
         "awarenessPassive": driver_status.awareness_passive,
         "isLowStd": driver_status.pose.low_std,
         "hiStdCount": driver_status.hi_stds,
-        "isPreview": False,
+        "isPreview": offroad,
       }
       pm.send('dMonitoringState', dat)
 

selfdrive/monitoring/driver_monitor.py

@@ -21,8 +21,9 @@ _DISTRACTED_TIME = 11.
 _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
-_FACE_THRESHOLD = 0.4
+_FACE_THRESHOLD = 0.6
 _EYE_THRESHOLD = 0.6
+_SG_THRESHOLD = 0.5
 _BLINK_THRESHOLD = 0.5  # 0.225
 _BLINK_THRESHOLD_SLACK = 0.65
 _BLINK_THRESHOLD_STRICT = 0.5
@@ -189,8 +190,8 @@ class DriverStatus():
     # self.pose.roll_std = driver_state.faceOrientationStd[2]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < _POSESTD_THRESHOLD
-    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD)
-    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD)
+    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb < _SG_THRESHOLD)
+    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb < _SG_THRESHOLD)
     self.face_detected = driver_state.faceProb > _FACE_THRESHOLD and \
                           abs(driver_state.facePosition[0]) <= 0.4 and abs(driver_state.facePosition[1]) <= 0.45
 

selfdrive/monitoring/driverview.py

@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-import os
-import subprocess
-import multiprocessing
-import signal
-import time
-
-import cereal.messaging as messaging
-from common.params import Params
-
-from common.basedir import BASEDIR
-
-KILL_TIMEOUT = 15
-
-
-def send_controls_packet(pm):
-  while True:
-    dat = messaging.new_message('controlsState')
-    dat.controlsState = {
-      "rearViewCam": True,
-    }
-    pm.send('controlsState', dat)
-    time.sleep(0.01)
-
-
-def send_dmon_packet(pm, d):
-  dat = messaging.new_message('dMonitoringState')
-  dat.dMonitoringState = {
-    "isRHD": d[0],
-    "rhdChecked": d[1],
-    "isPreview": d[2],
-  }
-  pm.send('dMonitoringState', dat)
-
-
-def main():
-  pm = messaging.PubMaster(['controlsState', 'dMonitoringState'])
-  controls_sender = multiprocessing.Process(target=send_controls_packet, args=[pm])
-  controls_sender.start()
-
-  # TODO: refactor with manager start/kill
-  proc_cam = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad"))
-  proc_mon = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/modeld/dmonitoringmodeld"), cwd=os.path.join(BASEDIR, "selfdrive/modeld"))
-
-  params = Params()
-  is_rhd = False
-  is_rhd_checked = False
-  should_exit = False
-
-  def terminate(signalNumber, frame):
-    print('got SIGTERM, exiting..')
-    should_exit = True
-    send_dmon_packet(pm, [is_rhd, is_rhd_checked, not should_exit])
-    proc_cam.send_signal(signal.SIGINT)
-    proc_mon.send_signal(signal.SIGINT)
-    kill_start = time.time()
-    while proc_cam.poll() is None:
-      if time.time() - kill_start > KILL_TIMEOUT:
-        from selfdrive.swaglog import cloudlog
-        cloudlog.critical("FORCE REBOOTING PHONE!")
-        os.system("date >> /sdcard/unkillable_reboot")
-        os.system("reboot")
-        raise RuntimeError
-      continue
-    controls_sender.terminate()
-    exit()
-
-  signal.signal(signal.SIGTERM, terminate)
-
-  while True:
-    send_dmon_packet(pm, [is_rhd, is_rhd_checked, not should_exit])
-
-    if not is_rhd_checked:
-      is_rhd = params.get("IsRHD") == b"1"
-      is_rhd_checked = True
-
-    time.sleep(0.01)
-
-
-if __name__ == '__main__':
-  main()