continued: Update DM awareness times (#2527)

* Gets us 6 seconds before making sound (up from 2s; 9s originally)

* Average last two awareness times

* This alert shows up every ~20 seconds, distracting

* Revert "Average last two awareness times"

This reverts commit 2fd7e7a44c708039e1692dcc14ee913ef88bb37e.

* update ref

* update test

* update ref

Co-authored-by: Shane Smiskol <shane@smiskol.com>

selfdrive/monitoring/driver_monitor.py

@@ -15,8 +15,8 @@ EventName = car.CarEvent.EventName
 # ******************************************************************************************
 
 _AWARENESS_TIME = 35.  # passive wheel touch total timeout
-_AWARENESS_PRE_TIME_TILL_TERMINAL = 7.
-_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5.
+_AWARENESS_PRE_TIME_TILL_TERMINAL = 12.
+_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
 _DISTRACTED_TIME = 11.
 _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
@@ -251,13 +251,13 @@ class DriverStatus():
     if self.awareness <= 0.:
       # terminal red alert: disengagement required
       alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
+      self.hi_std_alert_enabled = True
       self.terminal_time += 1
       if awareness_prev > 0.:
         self.terminal_alert_cnt += 1
     elif self.awareness <= self.threshold_prompt:
       # prompt orange alert
       alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
-      self.hi_std_alert_enabled = True
     elif self.awareness <= self.threshold_pre:
       # pre green alert
       alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive

selfdrive/monitoring/test_monitoring.py

@@ -218,8 +218,8 @@ class TestMonitoring(unittest.TestCase):
     self.assertEqual(events_output[int((_HI_STD_TIMEOUT)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
     self.assertTrue(EventName.preDriverDistracted in events_output[int((2*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names)
     self.assertTrue(EventName.promptDriverDistracted in events_output[int((2*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names)
-    self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)].names[1], EventName.promptDriverDistracted)
-    self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)].names[1], EventName.promptDriverDistracted)  # set_timer blocked
+    self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
+    self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)  # set_timer blocked
 
 if __name__ == "__main__":
   print('MAX_TERMINAL_ALERTS', MAX_TERMINAL_ALERTS)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b4a8c7c439c2430082ffb49ed675ada8f3bab8e6
+7dde5eab03feb7e0801fe24e9fea0f3629987571