def _run_seq(self, msgs, interaction, engaged, standstill):
DS = DriverStatus()
events = []
for idx in range(len(msgs)):
e = Events()
DS.update_states(msgs[idx], [0, 0, 0], 0, engaged[idx])
# cal_rpy and car_speed don't matter here
# evaluate events at 10Hz for tests
DS.update_events(e, interaction[idx], engaged[idx], standstill[idx])
events.append(e)
assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
return events, DS
def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status, car_standstill_status):
# inputs are all 10Hz
DS = DriverStatus()
events_from_DM = []
for idx in range(len(driver_state_msgs)):
e = Events()
DS.get_pose(driver_state_msgs[idx], [0, 0, 0], 0, openpilot_status[idx])
# cal_rpy and car_speed don't matter here
# evaluate events at 10Hz for tests
DS.update(e, driver_car_interaction[idx], openpilot_status[idx], car_standstill_status[idx])
events_from_DM.append(e)
assert len(events_from_DM) == len(driver_state_msgs), 'somethings wrong'
return events_from_DM, DS
def dmonitoringd_thread(sm=None, pm=None):
if pm is None:
pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None:
sm = messaging.SubMaster([
'driverState', 'liveCalibration', 'carState', 'controlsState',
'modelV2'
],
poll=['driverState'])
driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
sm['carState'].vEgo = 0.
sm['carState'].buttonEvents = []
sm['carState'].standstill = True
v_cruise_last = 0
driver_engaged = False
# 10Hz <- dmonitoringmodeld
while True:
sm.update()
if not sm.updated['driverState']:
continue
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
if driver_engaged:
driver_status.update(Events(), True,
sm['controlsState'].enabled,
sm['carState'].standstill,
sm['carState'].vEgo)
v_cruise_last = v_cruise
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'])
# Get data from dmonitoringmodeld
events = Events()
driver_status.get_pose(sm['driverState'],
sm['liveCalibration'].rpyCalib,
sm['carState'].vEgo,
sm['controlsState'].enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update(events, driver_engaged,
sm['controlsState'].enabled,
sm['carState'].standstill, sm['carState'].vEgo)
# build driverMonitoringState packet
dat = messaging.new_message('driverMonitoringState')
dat.driverMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"awarenessStatus":
driver_status.awareness,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isActiveMode":
driver_status.active_monitoring_mode,
}
pm.send('driverMonitoringState', dat)
def dmonitoringd_thread(sm=None, pm=None):
gc.disable()
# start the loop
set_realtime_priority(53)
params = Params()
# Pub/Sub Sockets
if pm is None:
pm = messaging.PubMaster(['dMonitoringState'])
if sm is None:
sm = messaging.SubMaster(
['driverState', 'liveCalibration', 'carState', 'model'])
driver_status = DriverStatus()
is_rhd = params.get("IsRHD")
if is_rhd is not None:
driver_status.is_rhd_region = bool(int(is_rhd))
driver_status.is_rhd_region_checked = True
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['carState'].vEgo = 0.
sm['carState'].cruiseState.enabled = False
sm['carState'].cruiseState.speed = 0.
sm['carState'].buttonEvents = []
sm['carState'].steeringPressed = False
sm['carState'].gasPressed = False
sm['carState'].standstill = True
cal_rpy = [0, 0, 0]
v_cruise_last = 0
driver_engaged = False
# 10Hz <- dmonitoringmodeld
while True:
sm.update()
# Handle calibration
if sm.updated['liveCalibration']:
if sm['liveCalibration'].calStatus == Calibration.CALIBRATED:
if len(sm['liveCalibration'].rpyCalib) == 3:
cal_rpy = sm['liveCalibration'].rpyCalib
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
if driver_engaged:
driver_status.update(Events(), True,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
v_cruise_last = v_cruise
# Get model meta
if sm.updated['model']:
driver_status.set_policy(sm['model'])
# Get data from dmonitoringmodeld
if sm.updated['driverState']:
events = Events()
driver_status.get_pose(sm['driverState'], cal_rpy,
sm['carState'].vEgo,
sm['carState'].cruiseState.enabled)
# Block any engage after certain distrations
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update(events, driver_engaged,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
# dMonitoringState packet
dat = messaging.new_message('dMonitoringState')
dat.dMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"awarenessStatus":
driver_status.awareness,
"isRHD":
driver_status.is_rhd_region,
"rhdChecked":
driver_status.is_rhd_region_checked,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isPreview":
False,
}
pm.send('dMonitoringState', dat)
def dmonitoringd_thread(sm=None, pm=None):
gc.disable()
set_realtime_priority(2)
if pm is None:
pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None:
sm = messaging.SubMaster([
'driverStateV2', 'liveCalibration', 'carState', 'controlsState',
'modelV2'
],
poll=['driverStateV2'])
driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
sm['carState'].buttonEvents = []
sm['carState'].standstill = True
v_cruise_last = 0
driver_engaged = False
# 10Hz <- dmonitoringmodeld
while True:
sm.update()
if not sm.updated['driverStateV2']:
continue
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
v_cruise_last = v_cruise
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
# Get data from dmonitoringmodeld
events = Events()
driver_status.update_states(sm['driverStateV2'],
sm['liveCalibration'].rpyCalib,
sm['carState'].vEgo,
sm['controlsState'].enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update_events(events, driver_engaged,
sm['controlsState'].enabled,
sm['carState'].standstill)
# build driverMonitoringState packet
dat = messaging.new_message('driverMonitoringState')
dat.driverMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"distractedType":
sum(driver_status.distracted_types),
"awarenessStatus":
driver_status.awareness,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isActiveMode":
driver_status.active_monitoring_mode,
"isRHD":
driver_status.wheel_on_right,
}
pm.send('driverMonitoringState', dat)
# save rhd virtual toggle every 5 mins
if (sm['driverStateV2'].frameId % 6000 == 0
and driver_status.wheelpos_learner.filtered_stat.n >
driver_status.settings._WHEELPOS_FILTER_MIN_COUNT
and driver_status.wheel_on_right
== (driver_status.wheelpos_learner.filtered_stat.M >
driver_status.settings._WHEELPOS_THRESHOLD)):
put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
def dmonitoringd_thread(sm=None, pm=None):
if pm is None:
pm = messaging.PubMaster(['dMonitoringState'])
if sm is None:
sm = messaging.SubMaster([
'driverState', 'liveCalibration', 'carState', 'model', 'dragonConf'
],
poll=['driverState'])
driver_status = DriverStatus()
driver_status.is_rhd_region = Params().get("IsRHD") == b"1"
offroad = Params().get("IsOffroad") == b"1"
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
sm['carState'].vEgo = 0.
sm['carState'].cruiseState.enabled = False
sm['carState'].cruiseState.speed = 0.
sm['carState'].buttonEvents = []
sm['carState'].steeringPressed = False
sm['carState'].gasPressed = False
sm['carState'].brakePressed = False
sm['carState'].standstill = True
v_cruise_last = 0
driver_engaged = False
# dp
sm['dragonConf'].dpDriverMonitor = True
sm['dragonConf'].dpSteeringMonitor = True
sm['dragonConf'].dpSteeringMonitorTimer = 70
# 10Hz <- dmonitoringmodeld
while True:
start_time = sec_since_boot()
sm.update()
# dp
if not sm['dragonConf'].dpDriverMonitor:
driver_status.active_monitoring_mode = False
driver_status.face_detected = False
driver_status.threshold_pre = 15. / sm[
'dragonConf'].dpSteeringMonitorTimer
driver_status.threshold_prompt = 6. / sm[
'dragonConf'].dpSteeringMonitorTimer
driver_status.step_change = DT_DMON / sm[
'dragonConf'].dpSteeringMonitorTimer
if not sm['dragonConf'].dpSteeringMonitor:
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
if not sm.updated['driverState']:
continue
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed or \
sm['carState'].brakePressed
if driver_engaged:
driver_status.update(Events(), True,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
v_cruise_last = v_cruise
if sm.updated['model']:
driver_status.set_policy(sm['model'])
# Get data from dmonitoringmodeld
events = Events()
if sm['dragonConf'].dpDriverMonitor:
driver_status.get_pose(sm['driverState'],
sm['liveCalibration'].rpyCalib,
sm['carState'].vEgo,
sm['carState'].cruiseState.enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update(events, driver_engaged,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
# build dMonitoringState packet
dat = messaging.new_message('dMonitoringState')
dat.dMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"awarenessStatus":
driver_status.awareness,
"isRHD":
driver_status.is_rhd_region,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isPreview":
offroad,
}
pm.send('dMonitoringState', dat)
diff = sec_since_boot() - start_time
if not sm['dragonConf'].dpDriverMonitor and diff < 0.1:
time.sleep(0.1 - diff)
