Hurts Donut

selfdrive/monitoring/helpers.py

@@ -33,12 +33,10 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
 
-    self._EE_THRESH11 = 0.25
-    self._EE_THRESH12 = 7.5
+    self._EE_THRESH11 = 0.4
+    self._EE_THRESH12 = 15.0
     self._EE_MAX_OFFSET1 = 0.06
     self._EE_MIN_OFFSET1 = 0.025
-    self._EE_THRESH21 = 0.01
-    self._EE_THRESH22 = 0.35
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -57,7 +55,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-    self._ALWAYS_ON_ALERT_MIN_SPEED = 7
+    self._ALWAYS_ON_ALERT_MIN_SPEED = 11
 
     self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
@@ -136,11 +134,8 @@ class DriverMonitoring:
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
     self.blink = DriverBlink()
     self.eev1 = 0.
-    self.eev2 = 1.
     self.ee1_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
-    self.ee2_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
     self.ee1_calibrated = False
-    self.ee2_calibrated = False
 
     self.always_on = always_on
     self.distracted_types = []
@@ -258,7 +253,7 @@ class DriverMonitoring:
     driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
                                     driver_data.faceOrientationStd, driver_data.facePositionStd,
-                                    driver_data.readyProb, driver_data.notReadyProb)):
+                                    driver_data.notReadyProb)):
       return
 
     self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
@@ -275,7 +270,6 @@ class DriverMonitoring:
     self.blink.right = 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
@@ -289,12 +283,10 @@ class DriverMonitoring:
       self.pose.pitch_offseter.push_and_update(self.pose.pitch)
       self.pose.yaw_offseter.push_and_update(self.pose.yaw)
       self.ee1_offseter.push_and_update(self.eev1)
-      self.ee2_offseter.push_and_update(self.eev2)
 
     self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
                                        self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
     self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-    self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
 
     self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
     self._set_timers(self.face_detected and not self.is_model_uncertain)

selfdrive/monitoring/test_monitoring.py

@@ -24,8 +24,6 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.rightBlinkProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
-  # TODO: test both separately when e2e is used
-  ds.leftDriverData.readyProb = [0., 0., 0., 0.]
   ds.leftDriverData.notReadyProb = [0., 0.]
   return ds