Toggle to always enable DM (#32205)

* permanent

* param

* correct behavior

* toggle

* need trans

* ref_commit

* translate for chs/t

* disable on P and R

* read
old-commit-hash: 1d05704d27dbe4f73c0eba7e8dad2ae84d4e205e

selfdrive/monitoring/dmonitoringd.py

@@ -17,7 +17,7 @@ def dmonitoringd_thread():
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
 
-  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))
+  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
   v_cruise_last = 0
   driver_engaged = False
@@ -52,7 +52,8 @@ def dmonitoringd_thread():
       events.add(car.CarEvent.EventName.tooDistracted)
 
     # Update events from driver state
-    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
+    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled,
+      sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park])
 
     # build driverMonitoringState packet
     dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
@@ -76,6 +77,9 @@ def dmonitoringd_thread():
     }
     pm.send('driverMonitoringState', dat)
 
+    if sm['driverStateV2'].frameId % 40 == 1:
+      driver_status.always_on = params.get_bool("AlwaysOnDM")
+
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and
      driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and

selfdrive/monitoring/driver_monitor.py

@@ -121,7 +121,7 @@ class DriverBlink():
     self.right_blink = 0.
 
 class DriverStatus():
-  def __init__(self, rhd_saved=False, settings=None):
+  def __init__(self, rhd_saved=False, settings=None, always_on=False):
     if settings is None:
       settings = DRIVER_MONITOR_SETTINGS()
     # init policy settings
@@ -139,6 +139,7 @@ class DriverStatus():
     self.ee1_calibrated = False
     self.ee2_calibrated = False
 
+    self.always_on = always_on
     self.awareness = 1.
     self.awareness_active = 1.
     self.awareness_passive = 1.
@@ -301,8 +302,12 @@ class DriverStatus():
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def update_events(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or not ctrl_active: # reset only when on disengagement if red reached
+  def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear):
+    always_on_valid = self.always_on and not wrong_gear
+    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
+       (not always_on_valid and not ctrl_active) or \
+       (always_on_valid and not ctrl_active and self.awareness <= 0):
+      # always reset on disengage with normal mode; disengage resets only on red if always on
       self._reset_awareness()
       return
 
@@ -323,11 +328,13 @@ class DriverStatus():
         return
 
     standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
+    always_on_red_exemption = always_on_valid and not ctrl_active and self.awareness - self.step_change <= 0
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
     if certainly_distracted or maybe_distracted:
       # should always be counting if distracted unless at standstill and reaching orange
-      if not standstill_exemption:
+      # also will not be reaching 0 if DM is active when not engaged
+      if not standstill_exemption and not always_on_red_exemption:
         self.awareness = max(self.awareness - self.step_change, -0.1)
 
     alert = None

selfdrive/monitoring/test_monitoring.py

@@ -63,7 +63,7 @@ class TestMonitoring(unittest.TestCase):
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
-      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx])
+      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx], 0)
       events.append(e)
     assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
     return events, DS