From 2ed88a1dff26c96076f1226ff1fa364ea68a7134 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Sun, 17 May 2026 19:27:51 -0700 Subject: [PATCH] DM: add sleep prob logging (#38049) * add parsing - 0963efe6-96e5-4408-8233-0fa565fc7510 * 8a4d3664-e618-4051-8e72-4e9522e40af0 --- cereal/log.capnp | 1 + selfdrive/modeld/dmonitoringmodeld.py | 3 ++- selfdrive/modeld/models/dmonitoring_model.onnx | 4 ++-- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 73a34a2ea..d12cd6cdc 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2063,6 +2063,7 @@ struct DriverStateV2 { rightBlinkProb @8 :Float32; sunglassesProb @9 :Float32; phoneProb @13 :Float32; + sleepProb @14 :Float32; deprecated :group { notReadyProb @12 :List(Float32); diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 7b0a26f4a..3da75d1ea 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -74,7 +74,7 @@ def parse_model_output(model_output): face_descs = model_output[f'face_descs_{ds_suffix}'] parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6] parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:]) - for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']: + for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob', 'sleep_prob']: parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}']) return parsed @@ -90,6 +90,7 @@ def fill_driver_data(msg, model_output, ds_suffix): msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item() msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item() msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item() + msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item() def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float): msg = messaging.new_message('driverStateV2', valid=True) diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index dc621bed0..bd3f2c85a 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0 -size 7307246 +oid sha256:3e7b31dfbc0a5234f1baf196513b77fc6af12204b8a8ffe8ee0417e48352f316 +size 7494962