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Linter: Fix >160 line length test (#29287)

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* test

* fix line length

* fix line length

* fix file size

* revert poetry

* cleanup for PR
old-commit-hash: cf64b27168614f851087adab2d7f766425922f64
This commit is contained in:
Justin Newberry
2023-08-08 17:13:35 -07:00
committed by GitHub
parent 6d1965f755
commit 7b677910df
54 changed files with 220 additions and 109 deletions
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selfdrive/monitoring/driver_monitor.py
+11 -6
View File
@@ -212,7 +212,8 @@ class DriverStatus():
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated:
ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12
ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
* self.settings._EE_THRESH12
else:
ee1_dist = self.eev1 > self.settings._EE_THRESH11
# if self.ee2_calibrated:
@@ -263,14 +264,17 @@ class DriverStatus():
self.pose.yaw_std = driver_data.faceOrientationStd[1]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.eev1 = driver_data.notReadyProb[0]
self.eev2 = driver_data.readyProb[0]
self.distracted_types = self._get_distracted_types()
self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distraction_filter.update(self.driver_distracted)
# update offseter
@@ -306,7 +310,8 @@ class DriverStatus():
self._reset_awareness()
return
# only restore awareness when paying attention and alert is not red
self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
if self.awareness == 1.:
self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
# don't display alert banner when awareness is recovering and has cleared orange
selfdrive/monitoring/test_monitoring.py
+22 -11
View File
@@ -82,7 +82,8 @@ class TestMonitoring(unittest.TestCase):
events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL +
((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
EventName.preDriverDistracted)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME +
@@ -94,7 +95,8 @@ class TestMonitoring(unittest.TestCase):
events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL +
((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
EventName.preDriverUnresponsive)
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL +
((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME +
@@ -125,10 +127,14 @@ class TestMonitoring(unittest.TestCase):
ds_vector = always_distracted[:]
interaction_vector = always_false[:]
op_vector = always_true[:]
ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
= [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
= [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
= [True] * int(1/DT_DMON)
op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
= [False] * int(0.5/DT_DMON)
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
@@ -141,7 +147,8 @@ class TestMonitoring(unittest.TestCase):
_visible_time = np.random.choice([0.5, 10])
ds_vector = always_no_face[:]*2
interaction_vector = always_false[:]*2
ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
[msg_ATTENTIVE] * int(_visible_time/DT_DMON)
interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
@@ -185,7 +192,8 @@ class TestMonitoring(unittest.TestCase):
standstill_vector = always_true[:]
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0],
EventName.preDriverDistracted)
self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
@@ -195,9 +203,12 @@ class TestMonitoring(unittest.TestCase):
ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
interaction_vector = always_false[:]
events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
self.assertTrue(EventName.preDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
self.assertTrue(EventName.promptDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
self.assertTrue(EventName.driverUnresponsive in events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
self.assertTrue(EventName.preDriverUnresponsive in
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
self.assertTrue(EventName.promptDriverUnresponsive in
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
self.assertTrue(EventName.driverUnresponsive in
events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
if __name__ == "__main__":