Add ability to toggle driver monitoring

common/params.py

@@ -130,6 +130,7 @@ keys = {
   "DragonUILead": [TxType.PERSISTENT],
   "DragonUIPath": [TxType.PERSISTENT],
   "DragonUIBlinker": [TxType.PERSISTENT],
+  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
 }
 
 

selfdrive/controls/lib/driver_monitor.py

@@ -100,6 +100,7 @@ class DriverStatus():
     self.awareness_time = float(params.get("DragonSteeringMonitorTimer"))
     self.awareness_time = 86400 if self.awareness_time <= 0. else self.awareness_time * 60.
     self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
+    self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring") == "0" else True
 
     self._set_timers(active_monitoring=True)
 
@@ -162,6 +163,9 @@ class DriverStatus():
     self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
     self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
     self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
+    # we simply set to rhd to avoid driver monitoring
+    if not self.dragon_enable_driver_monitoring:
+      self.is_rhd_region = True
     self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD and not self.is_rhd_region
 
     self.driver_distracted = self._is_driver_distracted(self.pose, self.blink)>0

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -50,6 +50,7 @@ default_conf = {
   'DragonUILead': '1',
   'DragonUIPath': '1',
   'DragonUIBlinker': '0',
+  'DragonEnableDriverMonitoring': '1',
 }
 
 deprecated_conf = {