FERG

selfdrive/monitoring/dmonitoringd.py

@@ -14,7 +14,13 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(
+    ['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2', 'starpilotCarState'],
+    poll='driverStateV2',
+    ignore_alive=['starpilotCarState'],
+    ignore_avg_freq=['starpilotCarState'],
+    ignore_valid=['starpilotCarState'],
+  )
 
   DM = DriverMonitoring(
     rhd_saved=params.get_bool("IsRhdDetected"),

selfdrive/monitoring/policy.py

@@ -17,6 +17,26 @@ MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 def to_percent(v):
   return int(min(max(v * 100., 0.), 100.))
 
+
+def starpilot_aol_enabled(sm):
+  service = 'starpilotCarState'
+  if service not in getattr(sm, 'data', {}):
+    return False
+
+  alive = getattr(sm, 'alive', None)
+  if alive is not None and not alive.get(service, False):
+    return False
+
+  valid = getattr(sm, 'valid', None)
+  if valid is not None and not valid.get(service, False):
+    return False
+
+  try:
+    return bool(sm[service].alwaysOnLateralEnabled)
+  except (AttributeError, KeyError):
+    return False
+
+
 # ******************************************************************************************
 #  NOTE: To fork maintainers.
 #  Disabling or nerfing safety features will get you and your users banned from our servers.
@@ -431,7 +451,7 @@ class DriverMonitoring:
       rpyCalib = [0., 0., 0.]
     else:
       car_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled
+      enabled = sm['selfdriveState'].enabled or starpilot_aol_enabled(sm)
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       lowspeed = car_speed < self.settings._ALERT_MIN_SPEED
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed

selfdrive/monitoring/test_monitoring.py

@@ -1,6 +1,8 @@
+from types import SimpleNamespace
+
 from cereal import log
 from openpilot.common.realtime import DT_DMON
-from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS, starpilot_aol_enabled
 
 EventName = log.OnroadEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
@@ -46,6 +48,17 @@ always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON)
 always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
 always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 
+
+class FakeSubMaster:
+  def __init__(self, aol_enabled, alive=True, valid=True):
+    self.data = {'starpilotCarState': SimpleNamespace(alwaysOnLateralEnabled=aol_enabled)}
+    self.alive = {'starpilotCarState': alive}
+    self.valid = {'starpilotCarState': valid}
+
+  def __getitem__(self, service):
+    return self.data[service]
+
+
 class TestMonitoring:
   def _run_seq(self, msgs, interaction, engaged, lowspeed):
     DM = DriverMonitoring()
@@ -71,6 +84,13 @@ class TestMonitoring:
     assert not DM.wheel_on_right
 
 
+  def test_starpilot_aol_counts_as_dm_engaged(self):
+    assert starpilot_aol_enabled(FakeSubMaster(True))
+    assert not starpilot_aol_enabled(FakeSubMaster(False))
+    assert not starpilot_aol_enabled(FakeSubMaster(True, alive=False))
+    assert not starpilot_aol_enabled(FakeSubMaster(True, valid=False))
+
+
   # engaged, driver is attentive all the time
   def test_fully_aware_driver(self):
     alert_lvls, d_status = self._run_seq(always_attentive, always_false, always_true, always_false)

selfdrive/ui/soundd.py

@@ -36,6 +36,16 @@ AudibleAlert = log.SelfdriveState.AudibleAlert
 
 StarPilotAudibleAlert = custom.StarPilotCarControl.HUDControl.AudibleAlert
 
+# StarPilot mirrors stock audible alerts at 0-8. Keep those raw values so themed
+# stock sounds still work, and only offset custom random-event sounds.
+STARPILOT_CUSTOM_ALERT_OFFSET = 1000
+STARPILOT_CUSTOM_ALERT_START = int(StarPilotAudibleAlert.angry)
+
+
+def starpilot_alert_key(alert):
+  raw_alert = int(alert)
+  return STARPILOT_CUSTOM_ALERT_OFFSET + raw_alert if raw_alert >= STARPILOT_CUSTOM_ALERT_START else raw_alert
+
 
 sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
@@ -52,20 +62,20 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
 
-  StarPilotAudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.continued: ("continued.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.dejaVu: ("dejaVu.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.doc: ("doc.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.goat: ("goat.wav", None, MAX_VOLUME),
-  StarPilotAudibleAlert.hal9000: ("hal9000.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.mail: ("mail.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.startup: ("startup.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.thisIsFine: ("this_is_fine.wav", 1, MAX_VOLUME),
-  StarPilotAudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.angry): ("angry.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.continued): ("continued.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.dejaVu): ("dejaVu.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.doc): ("doc.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.fart): ("fart.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.firefox): ("firefox.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.goat): ("goat.wav", None, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.hal9000): ("hal9000.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.mail): ("mail.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.nessie): ("nessie.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.noice): ("noice.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.startup): ("startup.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.thisIsFine): ("this_is_fine.wav", 1, MAX_VOLUME),
+  starpilot_alert_key(StarPilotAudibleAlert.uwu): ("uwu.wav", 1, MAX_VOLUME),
 }
 if HARDWARE.get_device_type() in ("tici", "tizi"):
   sound_list.update({
@@ -216,11 +226,11 @@ class Soundd:
       critical_full_alert = sm['selfdriveState'].alertStatus == log.SelfdriveState.AlertStatus.critical
       critical_full_alert &= sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.full
       if self.starpilot_toggles.goat_scream_critical_alerts and critical_full_alert:
-        new_alert = StarPilotAudibleAlert.goat
+        new_alert = starpilot_alert_key(StarPilotAudibleAlert.goat)
 
       new_starpilot_alert = sm['starpilotSelfdriveState'].alertSound.raw
       if new_alert == AudibleAlert.none and new_starpilot_alert != StarPilotAudibleAlert.none:
-        new_alert = new_starpilot_alert
+        new_alert = starpilot_alert_key(new_starpilot_alert)
         new_alert_type = sm['starpilotSelfdriveState'].alertType
 
       self.current_alert_type = new_alert_type
@@ -337,8 +347,8 @@ class Soundd:
       AudibleAlert.warningSoft: self.starpilot_toggles.warningSoft_volume / 100.0,
       AudibleAlert.warningImmediate: self.starpilot_toggles.warningImmediate_volume / 100.0,
 
-      StarPilotAudibleAlert.goat: self.starpilot_toggles.prompt_volume / 100.0,
-      StarPilotAudibleAlert.startup: self.starpilot_toggles.engage_volume / 100.0
+      starpilot_alert_key(StarPilotAudibleAlert.goat): self.starpilot_toggles.prompt_volume / 100.0,
+      starpilot_alert_key(StarPilotAudibleAlert.startup): self.starpilot_toggles.engage_volume / 100.0
     }
 
     for sound in sound_list: