Detect if the driver is still in the car

frogpilot/common/frogpilot_utilities.py

@@ -6,13 +6,15 @@ import os
 import requests
 import subprocess
 import threading
+import time
 import zipfile
 
 from pathlib import Path
 
 import openpilot.system.sentry as sentry
 
-from cereal import messaging
+from cereal import log, messaging
+from openpilot.common.realtime import DT_DMON, DT_HW
 
 from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, FROGS_GO_MOO_PATH
 
@@ -193,3 +195,38 @@ def update_json_file(path, data):
     os.fsync(file.fileno())
 
   os.replace(temp_path, path)
+
+
+def wait_for_no_driver(params, sm, time_threshold=60):
+  while sm["deviceState"].screenBrightnessPercent != 0 or any(proc.name == "dmonitoringd" and proc.running for proc in sm["managerState"].processes):
+    sm.update()
+
+    if any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown):
+      return
+
+    time.sleep(DT_HW)
+
+  params.put_bool("IsDriverViewEnabled", True)
+
+  while not any(proc.name == "dmonitoringd" and proc.running for proc in sm["managerState"].processes):
+    sm.update()
+
+    time.sleep(DT_HW)
+
+  start_time = time.monotonic()
+  while True:
+    sm.update()
+
+    elapsed_time = time.monotonic() - start_time
+    if elapsed_time >= time_threshold:
+      break
+
+    if any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown):
+      break
+
+    if sm["driverMonitoringState"].faceDetected or not sm.alive["driverMonitoringState"]:
+      start_time = time.monotonic()
+
+    time.sleep(DT_DMON)
+
+  params.remove("IsDriverViewEnabled")

selfdrive/monitoring/dmonitoringd.py

@@ -18,6 +18,8 @@ def dmonitoringd_thread():
   # FrogPilot variables
   sm = sm.extend(['frogpilotCarState'])
 
+  driver_view_enabled = params.get_bool("IsDriverViewEnabled")
+
   # 20Hz <- dmonitoringmodeld
   while True:
     sm.update()
@@ -31,9 +33,11 @@ def dmonitoringd_thread():
     elif valid:
       DM.run_step(sm, demo=demo_mode)
     # FrogPilot variables
+    elif driver_view_enabled:
+      DM.face_detected = sm['driverStateV2'].leftDriverData.faceProb > DM.settings._FACE_THRESHOLD or sm['driverStateV2'].rightDriverData.faceProb > DM.settings._FACE_THRESHOLD
 
     # publish
-    dat = DM.get_state_packet(valid=valid)
+    dat = DM.get_state_packet(valid=valid or driver_view_enabled)
     pm.send('driverMonitoringState', dat)
 
     # load live always-on toggle