move driver monitor patch to dmonitoringd.

selfdrive/controls/dmonitoringd.py

@@ -1,12 +1,15 @@
 #!/usr/bin/env python3
 import gc
-from common.realtime import set_realtime_priority
+from common.realtime import set_realtime_priority, sec_since_boot
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
 from selfdrive.locationd.calibration_helpers import Calibration
 from selfdrive.controls.lib.gps_helpers import is_rhd_region
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 def dmonitoringd_thread(sm=None, pm=None):
   gc.disable()
@@ -40,8 +43,47 @@ def dmonitoringd_thread(sm=None, pm=None):
   v_cruise_last = 0
   driver_engaged = False
 
+  # dragonpilot
+  last_ts = 0
+  dp_last_modified = None
+  dp_enable_driver_safety_check = True
+  dp_enable_driver_monitoring = True
+
   # 10Hz <- dmonitoringmodeld
   while True:
+    cur_time = sec_since_boot()
+    if cur_time - last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dp_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
+        # load driver monitor val only when safety is on
+        if dp_enable_driver_safety_check:
+          dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+          # load steering monitor timer val only when driver monitor is on
+          if dp_enable_driver_monitoring:
+            try:
+              dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
+            except TypeError:
+              dp_awareness_time = 0.
+            driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
+        dp_last_modified = modified
+      last_ts = cur_time
+
+    # reset all awareness val
+    if not dp_enable_driver_safety_check:
+      dp_enable_driver_monitoring = False
+      driver_status.awareness = 1.
+      driver_status.awareness_active = 1.
+      driver_status.awareness_passive = 1.
+      driver_status.terminal_alert_cnt = 0
+      driver_status.terminal_time = 0
+
+    # dm don't check rhd, set to true
+    if not dp_enable_driver_monitoring:
+      driver_status.awareness_time = 86400
+      driver_status.is_rhd_region = True
+      driver_status.is_rhd_region_checked = True
+
     sm.update()
 
     # GPS coords RHD parsing, once every restart

selfdrive/controls/lib/driver_monitor.py

@@ -1,12 +1,9 @@
 from common.numpy_fast import interp
 from math import atan2, sqrt
-from common.realtime import DT_DMON, sec_since_boot
+from common.realtime import DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
-from common.params import Params
-params = Params()
-from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 _AWARENESS_TIME = 70.  # one minute limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 25s before expiration
@@ -115,11 +112,7 @@ class DriverStatus():
     self.is_rhd_region_checked = False
 
     # dragonpilot
-    self.last_ts = 0
-    self.dp_last_modified = None
-    self.awareness_time = 100
-    self.dragon_enable_driver_safety_check = True
-    self.dragon_enable_driver_monitoring = True
+    self.awareness_time = 70.
 
     self._set_timers(active_monitoring=True)
 
@@ -184,9 +177,6 @@ class DriverStatus():
     if len(driver_state.faceOrientation) == 0 or len(driver_state.facePosition) == 0 or len(driver_state.faceOrientationStd) == 0 or len(driver_state.facePositionStd) == 0:
       return
 
-    if not self.dragon_enable_driver_monitoring:
-      self.is_rhd_region = True
-
     self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy)
     self.pose.pitch_std = driver_state.faceOrientationStd[0]
     self.pose.yaw_std = driver_state.faceOrientationStd[1]
@@ -222,21 +212,7 @@ class DriverStatus():
       self.hi_stds = 0
 
   def update(self, events, driver_engaged, ctrl_active, standstill):
-    cur_time = sec_since_boot()
-    if cur_time - self.last_ts >= 5.:
-      modified = dp_get_last_modified()
-      if self.dp_last_modified != modified:
-        self.awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
-        self.awareness_time = 100 if self.awareness_time <= 0. else self.awareness_time * 60.
-
-        self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
-        if self.dragon_enable_driver_safety_check:
-          self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
-        else:
-          self.dragon_enable_driver_monitoring = False
-        self.dp_last_modified = modified
-      self.last_ts = cur_time
-    if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check:
+    if (driver_engaged and self.awareness > 0) or not ctrl_active:
       # reset only when on disengagement if red reached
       self.awareness = 1.
       self.awareness_active = 1.