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Fix up dragon_enable_driver_safety_check mod

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dragonpilot
2019-09-12 11:43:09 +10:00
parent ee28ef1ae4
commit afb5d372fd
1 changed files with 19 additions and 13 deletions
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selfdrive/controls/lib/driver_monitor.py
+19 -13
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@@ -6,7 +6,7 @@ from common.stat_live import RunningStatFilter
from common.params import Params
params = Params()
_AWARENESS_TIME = float(params.get("DragonSteeringMonitorTimer")) * 60 # 1.6 minutes limit without user touching steering wheels make the car enter a terminal status
_AWARENESS_TIME = 100. # 1.6 minutes limit without user touching steering wheels make the car enter a terminal status
_AWARENESS_PRE_TIME_TILL_TERMINAL = 25. # a first alert is issued 25s before expiration
_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 15. # a second alert is issued 15s before start decelerating the car
_DISTRACTED_TIME = 11.
@@ -127,9 +127,11 @@ class DriverStatus():
self.awareness_active = self.awareness
self.awareness = self.awareness_passive
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.step_change = DT_CTRL / _AWARENESS_TIME
awareness_time = float(params.get("DragonSteeringMonitorTimer")) * 60
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / awareness_time
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / awareness_time
self.step_change = DT_CTRL / awareness_time
self.active_monitoring_mode = False
def _is_driver_distracted(self, pose, blink):
@@ -186,15 +188,6 @@ class DriverStatus():
self.awareness_passive = 1.
return events
# don't check for param too often as it's a kernel call
ts = sec_since_boot()
if ts - self.dp_last_check > 3.:
self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
self.dp_last_check = ts
if not self.dragon_enable_driver_safety_check:
return events
driver_attentive = self.driver_distraction_filter.x < 0.37
awareness_prev = self.awareness
@@ -212,6 +205,19 @@ class DriverStatus():
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
# dragonpilot
# don't check for param too often as it's a kernel call
ts = sec_since_boot()
if ts - self.dp_last_check > 3.:
self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
self.dp_last_check = ts
if not self.dragon_enable_driver_safety_check:
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
return events
alert = None
if self.awareness <= 0.:
# terminal red alert: disengagement required