onboarding: fixup DM RHD detection (#36900)

* helper

* fix

* use it

* prop

* bigger box

* huh

selfdrive/ui/mici/layouts/onboarding.py

@@ -41,8 +41,7 @@ class DriverCameraSetupDialog(DriverCameraDialog):
       return -1
 
     # Position dmoji on opposite side from driver
-    # TODO: we don't have design for RHD yet
-    is_rhd = False
+    is_rhd = self.driver_state_renderer.is_rhd
     driver_state_rect = (
       rect.x if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
       rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
@@ -50,6 +49,8 @@ class DriverCameraSetupDialog(DriverCameraDialog):
     self.driver_state_renderer.set_position(*driver_state_rect)
     self.driver_state_renderer.render()
 
+    self._draw_face_detection(rect)
+
     rl.end_scissor_mode()
     return -1
 

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -89,7 +89,9 @@ class DriverCameraDialog(NavWidget):
       self._publish_alert_sound(None)
       return -1
 
-    self._draw_face_detection(rect)
+    driver_data = self._draw_face_detection(rect)
+    if driver_data is not None:
+      self._draw_eyes(rect, driver_data)
 
     # Position dmoji on opposite side from driver
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -159,12 +161,10 @@ class DriverCameraDialog(NavWidget):
     if self._glasses_texture is None:
       self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
-  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
-    driver_state = ui_state.sm["driverStateV2"]
-    is_rhd = driver_state.wheelOnRightProb > 0.5
-    driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
-    face_detect = driver_data.faceProb > 0.7
-    if not face_detect:
+  def _draw_face_detection(self, rect: rl.Rectangle):
+    dm_state = ui_state.sm["driverMonitoringState"]
+    driver_data = self.driver_state_renderer.get_driver_data()
+    if not dm_state.faceDetected:
       return
 
     # Get face position and orientation
@@ -188,7 +188,7 @@ class DriverCameraDialog(NavWidget):
     scale_y = rect.height / 1080.0
     fbox_x = rect.x + rect.width / 2 + offset_x * scale_x
     fbox_y = rect.y + rect.height / 2 + offset_y * scale_y
-    box_size = 50
+    box_size = 75
     line_thickness = 3
 
     line_color = rl.Color(255, 255, 255, int(alpha * 255))
@@ -199,7 +199,9 @@ class DriverCameraDialog(NavWidget):
       line_thickness,
       line_color,
     )
+    return driver_data
 
+  def _draw_eyes(self, rect: rl.Rectangle, driver_data):
     # Draw eye indicators based on eye probabilities
     eye_offset_x = 10
     eye_offset_y = 10

selfdrive/ui/mici/onroad/driver_state.py

@@ -78,6 +78,10 @@ class DriverStateRenderer(Widget):
     """Returns True if dmoji should appear active (either actually active or forced)"""
     return bool(self._force_active or self._is_active)
 
+  @property
+  def is_rhd(self) -> bool:
+    return self._is_rhd
+
   def _render(self, _):
     if DEBUG:
       rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
@@ -171,10 +175,9 @@ class DriverStateRenderer(Widget):
     if f.x > 0.01:
       rl.draw_line_ex((start_x, start_y), (end_x, end_y), 12, color)
 
-  def _update_state(self):
+  def get_driver_data(self):
     sm = ui_state.sm
 
-    # Get monitoring state
     dm_state = sm["driverMonitoringState"]
     self._is_active = dm_state.isActiveMode
     self._is_rhd = dm_state.isRHD
@@ -182,6 +185,11 @@ class DriverStateRenderer(Widget):
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
+    return driver_data
+
+  def _update_state(self):
+    # Get monitoring state
+    driver_data = self.get_driver_data()
     driver_orient = driver_data.faceOrientation
 
     if len(driver_orient) != 3: