dmonitoringd: simplify main loop (#32517)

* one call does all

* no need

* update etst

* filename

* dbf5b05ff480145a79b5941e360d0698b70979cd

release/files_common

@@ -357,7 +357,7 @@ selfdrive/modeld/runners/*.h
 selfdrive/modeld/runners/*.py
 
 selfdrive/monitoring/dmonitoringd.py
-selfdrive/monitoring/driver_monitor.py
+selfdrive/monitoring/helpers.py
 
 selfdrive/navd/.gitignore
 selfdrive/navd/__init__.py

selfdrive/monitoring/dmonitoringd.py

@@ -2,11 +2,9 @@
 import gc
 
 import cereal.messaging as messaging
-from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
-from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
-from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
 
 
 def dmonitoringd_thread():
@@ -17,70 +15,30 @@ def dmonitoringd_thread():
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
 
-  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
+  DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
-
-  driver_engaged = False
 
   # 20Hz <- dmonitoringmodeld
   while True:
     sm.update()
-    if not sm.updated['driverStateV2']:
+    if (not sm.updated['driverStateV2']) or (not sm.all_checks()):
+      # iterate when model has new output
       continue
 
-    # Get interaction
+    DM.run_step(sm)
-    if sm.updated['carState']:
-      driver_engaged = sm['carState'].steeringPressed or \
-                       sm['carState'].gasPressed
-
-    if sm.updated['modelV2']:
-      driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
-
-    # Get data from dmonitoringmodeld
-    events = Events()
-
-    if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
-      driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
-
-    # Block engaging after max number of distrations or when alert active
-    if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
-       driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION or \
-       driver_status.always_on and driver_status.awareness <= driver_status.threshold_prompt:
-      events.add(car.CarEvent.EventName.tooDistracted)
-
-    # Update events from driver state
-    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled,
-      sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], sm['carState'].vEgo)
 
-    # build driverMonitoringState packet
+    # publish
-    dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
+    dat = DM.get_state_packet()
-    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)
 
+    # load live always-on toggle
     if sm['driverStateV2'].frameId % 40 == 1:
-      driver_status.always_on = params.get_bool("AlwaysOnDM")
+      DM.always_on = params.get_bool("AlwaysOnDM")
 
     # 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
+     DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
+     DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
-      params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
+      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
   dmonitoringd_thread()

selfdrive/monitoring/helpers.py

@@ -1,6 +1,8 @@
 from math import atan2
 
 from cereal import car
+import cereal.messaging as messaging
+from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -71,19 +73,38 @@ class DRIVER_MONITOR_SETTINGS:
     self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
+class DistractedType:
+  NOT_DISTRACTED = 0
+  DISTRACTED_POSE = 1 << 0
+  DISTRACTED_BLINK = 1 << 1
+  DISTRACTED_E2E = 1 << 2
+
+class DriverPose:
+  def __init__(self, max_trackable):
+    self.yaw = 0.
+    self.pitch = 0.
+    self.roll = 0.
+    self.yaw_std = 0.
+    self.pitch_std = 0.
+    self.roll_std = 0.
+    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.calibrated = False
+    self.low_std = True
+    self.cfactor_pitch = 1.
+    self.cfactor_yaw = 1.
+
+class DriverBlink:
+  def __init__(self):
+    self.left = 0.
+    self.right = 0.
+
 
-# TODO: get these live
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
 cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
 W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
 
-class DistractedType:
-  NOT_DISTRACTED = 0
-  DISTRACTED_POSE = 1
-  DISTRACTED_BLINK = 2
-  DISTRACTED_E2E = 4
-
 def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
   # the output of these angles are in device frame
   # so from driver's perspective, pitch is up and yaw is right
@@ -102,26 +123,8 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
   yaw -= rpy_calib[2]
   return roll_net, pitch, yaw
 
-class DriverPose:
-  def __init__(self, max_trackable):
-    self.yaw = 0.
-    self.pitch = 0.
-    self.roll = 0.
-    self.yaw_std = 0.
-    self.pitch_std = 0.
-    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.low_std = True
-    self.cfactor_pitch = 1.
-    self.cfactor_yaw = 1.
-
-class DriverBlink:
-  def __init__(self):
-    self.left_blink = 0.
-    self.right_blink = 0.
 
-class DriverStatus:
+class DriverMonitoring:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
     if settings is None:
       settings = DRIVER_MONITOR_SETTINGS()
@@ -131,7 +134,6 @@ class DriverStatus:
     # init driver status
     self.wheelpos_learner = RunningStatFilter()
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
-    self.pose_calibrated = False
     self.blink = DriverBlink()
     self.eev1 = 0.
     self.eev2 = 1.
@@ -141,9 +143,6 @@ class DriverStatus:
     self.ee2_calibrated = False
 
     self.always_on = always_on
-    self.awareness = 1.
-    self.awareness_active = 1.
-    self.awareness_passive = 1.
     self.distracted_types = []
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
@@ -160,13 +159,18 @@ class DriverStatus:
     self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
     self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
 
+    self._reset_awareness()
     self._set_timers(active_monitoring=True)
+    self._reset_events()
 
   def _reset_awareness(self):
     self.awareness = 1.
     self.awareness_active = 1.
     self.awareness_passive = 1.
 
+  def _reset_events(self):
+    self.current_events = Events()
+
   def _set_timers(self, active_monitoring):
     if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
       if active_monitoring:
@@ -197,10 +201,21 @@ class DriverStatus:
       self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
       self.active_monitoring_mode = False
 
+  def _set_policy(self, model_data, car_speed):
+    bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
+    bp_normal = max(min(bp / k1, 0.5),0)
+    self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
+                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
+                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
+    self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5],
+                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
+                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
+
   def _get_distracted_types(self):
     distracted_types = []
 
-    if not self.pose_calibrated:
+    if not self.pose.calibrated:
       pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
       yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
     else:
@@ -210,11 +225,11 @@ class DriverStatus:
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
     yaw_error = abs(yaw_error)
-    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose_calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
+    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
        yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD:
+    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.ee1_calibrated:
@@ -222,27 +237,12 @@ class DriverStatus:
                               * self.settings._EE_THRESH12
     else:
       ee1_dist = self.eev1 > self.settings._EE_THRESH11
-    # if self.ee2_calibrated:
-    #   ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
-    # else:
-    #   ee2_dist = self.eev2 < self.settings._EE_THRESH21
     if ee1_dist:
       distracted_types.append(DistractedType.DISTRACTED_E2E)
 
     return distracted_types
 
-  def set_policy(self, model_data, car_speed):
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
-    bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
-    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
-    bp_normal = max(min(bp / k1, 0.5),0)
-    self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
-                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
-                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
-    self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5],
-                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
-                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
-
-  def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
     rhd_pred = driver_state.wheelOnRightProb
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
@@ -270,9 +270,9 @@ class DriverStatus:
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
                                                                   * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                                                                   * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.eev1 = driver_data.notReadyProb[0]
     self.eev2 = driver_data.readyProb[0]
@@ -291,7 +291,7 @@ class DriverStatus:
       self.ee1_offseter.push_and_update(self.eev1)
       self.ee2_offseter.push_and_update(self.eev2)
 
-    self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
+    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
                                        self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
     self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
     self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
@@ -303,11 +303,18 @@ class DriverStatus:
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
 
-  def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear, car_speed):
+  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+    self._reset_events()
+    # Block engaging after max number of distrations or when alert active
+    if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
+       self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \
+       self.always_on and self.awareness <= self.threshold_prompt:
+      self.current_events.add(EventName.tooDistracted)
+
     always_on_valid = self.always_on and not wrong_gear
     if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
-       (not always_on_valid and not ctrl_active) or \
+       (not always_on_valid and not op_engaged) or \
-       (always_on_valid and not ctrl_active and self.awareness <= 0):
+       (always_on_valid and not op_engaged and self.awareness <= 0):
       # always reset on disengage with normal mode; disengage resets only on red if always on
       self._reset_awareness()
       return
@@ -331,8 +338,8 @@ class DriverStatus:
     _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
     _reaching_terminal = self.awareness - self.step_change <= 0
     standstill_exemption = standstill and _reaching_audible
-    always_on_red_exemption = always_on_valid and not ctrl_active and _reaching_terminal
+    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-    always_on_lowspeed_exemption = always_on_valid and not ctrl_active and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible
+    always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible
 
     certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
     maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
@@ -358,4 +365,52 @@ class DriverStatus:
       alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
 
     if alert is not None:
-      events.add(alert)
+      self.current_events.add(alert)
+
+
+  def get_state_packet(self):
+    # build driverMonitoringState packet
+    dat = messaging.new_message('driverMonitoringState', valid=True)
+    dat.driverMonitoringState = {
+      "events": self.current_events.to_msg(),
+      "faceDetected": self.face_detected,
+      "isDistracted": self.driver_distracted,
+      "distractedType": sum(self.distracted_types),
+      "awarenessStatus": self.awareness,
+      "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
+      "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
+      "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
+      "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
+      "stepChange": self.step_change,
+      "awarenessActive": self.awareness_active,
+      "awarenessPassive": self.awareness_passive,
+      "isLowStd": self.pose.low_std,
+      "hiStdCount": self.hi_stds,
+      "isActiveMode": self.active_monitoring_mode,
+      "isRHD": self.wheel_on_right,
+    }
+    return dat
+
+  def run_step(self, sm):
+    # Set strictness
+    self._set_policy(
+      model_data=sm['modelV2'],
+      car_speed=sm['carState'].vEgo
+    )
+
+    # Parse data from dmonitoringmodeld
+    self._update_states(
+      driver_state=sm['driverStateV2'],
+      cal_rpy=sm['liveCalibration'].rpyCalib,
+      car_speed=sm['carState'].vEgo,
+      op_engaged=sm['controlsState'].enabled
+    )
+
+    # Update distraction events
+    self._update_events(
+      driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
+      op_engaged=sm['controlsState'].enabled,
+      standstill=sm['carState'].standstill,
+      wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
+      car_speed=sm['carState'].vEgo
+    )

selfdrive/monitoring/test_monitoring.py

@@ -3,8 +3,7 @@ import numpy as np
 
 from cereal import car, log
 from openpilot.common.realtime import DT_DMON
-from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
-from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS
 
 EventName = car.CarEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
@@ -51,21 +50,19 @@ always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON)
 always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
 always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 
-# TODO: this only tests DriverStatus
 class TestMonitoring:
   def _run_seq(self, msgs, interaction, engaged, standstill):
-    DS = DriverStatus()
+    DM = DriverMonitoring()
     events = []
     for idx in range(len(msgs)):
-      e = Events()
+      DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx])
-      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], 0, 0)
+      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
-      events.append(e)
+      events.append(DM.current_events)
     assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
-    return events, DS
+    return events, DM
 
   def _assert_no_events(self, events):
     assert all(not len(e) for e in events)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-da1b19b2d1d54412ac72f2e9645046d262f9c7ab
+dbf5b05ff480145a79b5941e360d0698b70979cd