dmonitoringd (#1016)

old-commit-hash: 6322a275d6

.gitignore

@@ -44,7 +44,7 @@ selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
 selfdrive/modeld/_modeld
-selfdrive/modeld/_monitoringd
+selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one

cereal

@@ -1 +1 @@
-Subproject commit 8f9aa8fcc3e9c7d566d1d388aea4cbf642abaa8b
+Subproject commit 3f01dcf01cea9833a73e9779cc9237e9bda80e1e

models/dmonitoring_model.current

@@ -0,0 +1 @@
+579c4158-b98d-41ba-9932-53ecd62e8b9f

models/dmonitoring_model.keras

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a09d27ea8e7e286044f7cbfb7796b9acde2ac6a41f767358d1a2dd2df2fa4c6
+size 814176

models/dmonitoring_model_q.dlc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:731e44cdc2d1ba04a4c18f20a08605a9f3c73a7ca4152d811e401d8f4a70fab5
+size 186615

models/monitoring_model.current

@@ -1 +0,0 @@
-5f173fc6-cc91-4d62-8cdb-b33cf8713617

models/monitoring_model.keras

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0465111974591de2954c0ff29ae025634cb5eb79d6e259ebc945fb8a77a96977
-size 814176

models/monitoring_model_q.dlc

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8ed5fa77d02ed5f4c4ee4c4793916d24f024d07640ba277dec13b99c0d5a1d3a
-size 186615

release/files_common

@@ -55,7 +55,7 @@ common/transformations/orientation.py
 common/api/__init__.py
 
 models/supercombo.dlc
-models/monitoring_model_q.dlc
+models/dmonitoring_model_q.dlc
 
 selfdrive/version.py
 
@@ -200,6 +200,7 @@ selfdrive/controls/tests/*
 selfdrive/controls/controlsd.py
 selfdrive/controls/plannerd.py
 selfdrive/controls/radard.py
+selfdrive/controls/dmonitoringd.py
 selfdrive/controls/lib/__init__.py
 selfdrive/controls/lib/alertmanager.py
 selfdrive/controls/lib/alerts.py
@@ -334,17 +335,17 @@ selfdrive/camerad/transforms/rgb_to_yuv_test.cc
 
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
-selfdrive/modeld/monitoringd.cc
+selfdrive/modeld/dmonitoringmodeld.cc
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
-selfdrive/modeld/monitoringd
+selfdrive/modeld/dmonitoringmodeld
 
 selfdrive/modeld/models/commonmodel.c
 selfdrive/modeld/models/commonmodel.h
 selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
-selfdrive/modeld/models/monitoring.cc
-selfdrive/modeld/models/monitoring.h
+selfdrive/modeld/models/dmonitoring.cc
+selfdrive/modeld/models/dmonitoring.h
 
 selfdrive/modeld/transforms/loadyuv.[c,h]
 selfdrive/modeld/transforms/loadyuv.cl

selfdrive/camerad/main.cc

@@ -147,7 +147,7 @@ void* frontview_thread(void *arg) {
   // we subscribe to this for placement of the AE metering box
   // TODO: the loop is bad, ideally models shouldn't affect sensors
   Context *msg_context = Context::create();
-  SubSocket *monitoring_sock = SubSocket::create(msg_context, "driverMonitoring", "127.0.0.1", true);
+  SubSocket *monitoring_sock = SubSocket::create(msg_context, "driverState", "127.0.0.1", true);
   assert(monitoring_sock != NULL);
 
   cl_command_queue q = clCreateCommandQueue(s->context, s->device_id, 0, &err);
@@ -194,10 +194,10 @@ void* frontview_thread(void *arg) {
       capnp::FlatArrayMessageReader cmsg(amsg);
       cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
-      float face_prob = event.getDriverMonitoring().getFaceProb();
+      float face_prob = event.getDriverState().getFaceProb();
       float face_position[2];
-      face_position[0] = event.getDriverMonitoring().getFacePosition()[0];
-      face_position[1] = event.getDriverMonitoring().getFacePosition()[1];
+      face_position[0] = event.getDriverState().getFacePosition()[0];
+      face_position[1] = event.getDriverState().getFacePosition()[1];
 
       // set front camera metering target
       if (face_prob > 0.4)

selfdrive/controls/controlsd.py

@@ -6,7 +6,7 @@ from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
-from common.params import Params, put_nonblocking
+from common.params import Params
 import cereal.messaging as messaging
 from selfdrive.config import Conversions as CV
 from selfdrive.boardd.boardd import can_list_to_can_capnp
@@ -23,9 +23,7 @@ from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
 from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
 from selfdrive.controls.lib.planner import LON_MPC_STEP
-from selfdrive.controls.lib.gps_helpers import is_rhd_region
 from selfdrive.locationd.calibration_helpers import Calibration, Filter
 
 LANE_DEPARTURE_THRESHOLD = 0.1
@@ -67,7 +65,7 @@ def events_to_bytes(events):
   return ret
 
 
-def data_sample(CI, CC, sm, can_sock, driver_status, state, mismatch_counter, can_error_counter, params):
+def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params):
   """Receive data from sockets and create events for battery, temperature and disk space"""
 
   # Update carstate from CAN and create events
@@ -77,6 +75,7 @@ def data_sample(CI, CC, sm, can_sock, driver_status, state, mismatch_counter, ca
   sm.update(0)
 
   events = list(CS.events)
+  events += list(sm['dMonitoringState'].events)
   add_lane_change_event(events, sm['pathPlan'])
   enabled = isEnabled(state)
 
@@ -103,27 +102,15 @@ def data_sample(CI, CC, sm, can_sock, driver_status, state, mismatch_counter, ca
   if CS.stockAeb:
     events.append(create_event('stockAeb', []))
 
-  # GPS coords RHD parsing, once every restart
-  if sm.updated['gpsLocation'] and not driver_status.is_rhd_region_checked:
-    is_rhd = is_rhd_region(sm['gpsLocation'].latitude, sm['gpsLocation'].longitude)
-    driver_status.is_rhd_region = is_rhd
-    driver_status.is_rhd_region_checked = True
-    put_nonblocking("IsRHD", "1" if is_rhd else "0")
-
   # Handle calibration
   cal_status = sm['liveCalibration'].calStatus
   cal_perc = sm['liveCalibration'].calPerc
 
-  cal_rpy = [0,0,0]
   if cal_status != Calibration.CALIBRATED:
     if cal_status == Calibration.UNCALIBRATED:
       events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
     else:
       events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-  else:
-    rpy = sm['liveCalibration'].rpyCalib
-    if len(rpy) == 3:
-      cal_rpy = rpy
 
   # When the panda and controlsd do not agree on controls_allowed
   # we want to disengage openpilot. However the status from the panda goes through
@@ -138,16 +125,6 @@ def data_sample(CI, CC, sm, can_sock, driver_status, state, mismatch_counter, ca
   if mismatch_counter >= 200:
     events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
 
-  # Driver monitoring
-  if sm.updated['model']:
-    driver_status.set_policy(sm['model'])
-
-  if sm.updated['driverMonitoring']:
-    driver_status.get_pose(sm['driverMonitoring'], cal_rpy, CS.vEgo, enabled)
-
-  if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
-    events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
-
   return CS, events, cal_perc, mismatch_counter, can_error_counter
 
 
@@ -239,7 +216,7 @@ def state_transition(frame, CS, CP, state, events, soft_disable_timer, v_cruise_
 
 
 def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
-                  AM, rk, driver_status, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame):
+                  AM, rk, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame):
   """Given the state, this function returns an actuators packet"""
 
   actuators = car.CarControl.Actuators.new_message()
@@ -247,17 +224,9 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
   enabled = isEnabled(state)
   active = isActive(state)
 
-  # check if user has interacted with the car
-  driver_engaged = len(CS.buttonEvents) > 0 or \
-                   v_cruise_kph != v_cruise_kph_last or \
-                   CS.steeringPressed
-
   if CS.leftBlinker or CS.rightBlinker:
     last_blinker_frame = frame
 
-  # add eventual driver distracted events
-  events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill)
-
   if plan.fcw:
     # send FCW alert if triggered by planner
     AM.add(frame, "fcw", enabled)
@@ -315,11 +284,11 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
         extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_MPH))) + " mph"
     AM.add(frame, str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
 
-  return actuators, v_cruise_kph, driver_status, v_acc_sol, a_acc_sol, lac_log, last_blinker_frame
+  return actuators, v_cruise_kph, v_acc_sol, a_acc_sol, lac_log, last_blinker_frame
 
 
 def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM,
-              driver_status, LaC, LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev,
+              LaC, LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev,
               last_blinker_frame, is_ldw_enabled, can_error_counter):
   """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 
@@ -373,7 +342,7 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
     can_sends = CI.apply(CC)
     pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
-  force_decel = driver_status.awareness < 0.
+  force_decel = sm['dMonitoringState'].awarenessStatus < 0.
 
   # controlsState
   dat = messaging.new_message()
@@ -387,8 +356,7 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
     "alertBlinkingRate": AM.alert_rate,
     "alertType": AM.alert_type,
     "alertSound": AM.audible_alert,
-    "awarenessStatus": max(driver_status.awareness, -0.1) if isEnabled(state) else 1.0,
-    "driverMonitoringOn": bool(driver_status.face_detected),
+    "driverMonitoringOn": sm['dMonitoringState'].faceDetected,
     "canMonoTimes": list(CS.canMonoTimes),
     "planMonoTime": sm.logMonoTime['plan'],
     "pathPlanMonoTime": sm.logMonoTime['pathPlan'],
@@ -483,8 +451,8 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
     pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams'])
 
   if sm is None:
-    sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan', 'pathPlan', \
-                              'model', 'gpsLocation'], ignore_alive=['gpsLocation'])
+    sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', \
+                              'model'])
 
 
   if can_sock is None:
@@ -529,11 +497,6 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   elif CP.lateralTuning.which() == 'lqr':
     LaC = LatControlLQR(CP)
 
-  driver_status = DriverStatus()
-  is_rhd = params.get("IsRHD")
-  if is_rhd is not None:
-    driver_status.is_rhd = bool(int(is_rhd))
-
   state = State.disabled
   soft_disable_timer = 0
   v_cruise_kph = 255
@@ -547,6 +510,9 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   sm['pathPlan'].sensorValid = True
   sm['pathPlan'].posenetValid = True
   sm['thermal'].freeSpace = 1.
+  sm['dMonitoringState'].events = []
+  sm['dMonitoringState'].awarenessStatus = 1.
+  sm['dMonitoringState'].faceDetected = False
 
   # detect sound card presence
   sounds_available = not os.path.isfile('/EON') or (os.path.isdir('/proc/asound/card0') and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
@@ -563,7 +529,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
     prof.checkpoint("Ratekeeper", ignore=True)
 
     # Sample data and compute car events
-    CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, driver_status, state, mismatch_counter, can_error_counter, params)
+    CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params)
     prof.checkpoint("Sample")
 
     # Create alerts
@@ -605,14 +571,14 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       prof.checkpoint("State transition")
 
     # Compute actuators (runs PID loops and lateral MPC)
-    actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log, last_blinker_frame = \
+    actuators, v_cruise_kph, v_acc, a_acc, lac_log, last_blinker_frame = \
       state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
-                    driver_status, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame)
+                    LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame)
 
     prof.checkpoint("State Control")
 
     # Publish data
-    CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM, driver_status, LaC,
+    CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM, LaC,
                                 LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev, last_blinker_frame,
                                 is_ldw_enabled, can_error_counter)
     prof.checkpoint("Sent")

selfdrive/controls/dmonitoringd.py

@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+import gc
+from common.realtime import set_realtime_priority
+from common.params import Params, put_nonblocking
+import cereal.messaging as messaging
+from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
+from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
+from selfdrive.locationd.calibration_helpers import Calibration
+from selfdrive.controls.lib.gps_helpers import is_rhd_region
+
+def dmonitoringd_thread(sm=None, pm=None):
+  gc.disable()
+
+  # start the loop
+  set_realtime_priority(3)
+
+  params = Params()
+
+  # Pub/Sub Sockets
+  if pm is None:
+    pm = messaging.PubMaster(['dMonitoringState'])
+
+  if sm is None:
+    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model', 'gpsLocation'], ignore_alive=['gpsLocation'])
+
+  driver_status = DriverStatus()
+  is_rhd = params.get("IsRHD")
+  if is_rhd is not None:
+    driver_status.is_rhd_region = bool(int(is_rhd))
+
+  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'].standstill = True
+
+  cal_rpy = [0,0,0]
+  v_cruise_last = 0
+  driver_engaged = False
+
+  # 10Hz <- dmonitoringmodeld
+  while True:
+    sm.update()
+
+    # GPS coords RHD parsing, once every restart
+    if not driver_status.is_rhd_region_checked and sm.updated['gpsLocation']:
+      is_rhd = is_rhd_region(sm['gpsLocation'].latitude, sm['gpsLocation'].longitude)
+      driver_status.is_rhd_region = is_rhd
+      driver_status.is_rhd_region_checked = True
+      put_nonblocking("IsRHD", "1" if is_rhd else "0")
+
+    # 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
+      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 = []
+      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.append(create_event("tooDistracted", [ET.NO_ENTRY]))
+      # Update events from driver state
+      events = driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
+
+      # dMonitoringState packet
+      dat = messaging.new_message()
+      dat.init('dMonitoringState')
+      dat.dMonitoringState = {
+        "events": events,
+        "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,
+      }
+      pm.send('dMonitoringState', dat)
+
+def main(sm=None, pm=None):
+  dmonitoringd_thread(sm, pm)
+
+if __name__ == '__main__':
+  main()

selfdrive/controls/lib/alerts.py

@@ -110,7 +110,7 @@ ALERTS = [
 
   Alert(
       "preDriverDistracted",
-      "KEEP EYES ON ROAD: User Appears Distracted",
+      "KEEP EYES ON ROAD: Driver Appears Distracted",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
@@ -118,14 +118,14 @@ ALERTS = [
   Alert(
       "promptDriverDistracted",
       "KEEP EYES ON ROAD",
-      "User Appears Distracted",
+      "Driver Appears Distracted",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 
   Alert(
       "driverDistracted",
       "DISENGAGE IMMEDIATELY",
-      "User Was Distracted",
+      "Driver Was Distracted",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
@@ -139,14 +139,14 @@ ALERTS = [
   Alert(
       "promptDriverUnresponsive",
       "TOUCH STEERING WHEEL",
-      "User Is Unresponsive",
+      "Driver Is Unresponsive",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 
   Alert(
       "driverUnresponsive",
       "DISENGAGE IMMEDIATELY",
-      "User Was Unresponsive",
+      "Driver Was Unresponsive",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
 
@@ -155,7 +155,7 @@ ALERTS = [
       "CHECK DRIVER FACE VISIBILITY",
       "Driver Monitor Model Output Uncertain",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),
 
   Alert(
       "geofence",

selfdrive/controls/lib/driver_monitor.py

@@ -1,13 +1,13 @@
 from common.numpy_fast import interp
 from math import atan2, sqrt
-from common.realtime import DT_CTRL, DT_DMON
+from common.realtime import DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
 
-_AWARENESS_TIME = 100.  # 1.6 minutes limit without user touching steering wheels make the car enter a terminal status
-_AWARENESS_PRE_TIME_TILL_TERMINAL = 25.  # a first alert is issued 25s before expiration
-_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 15.  # a second alert is issued 15s before start decelerating the car
+_AWARENESS_TIME = 70.  # one minute limit without user touching steering wheels make the car enter a terminal status
+_AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 25s before expiration
+_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.  # a second alert is issued 15s before start decelerating the car
 _DISTRACTED_TIME = 11.
 _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
@@ -26,18 +26,19 @@ _PITCH_POS_ALLOWANCE = 0.12 # rad, to not be too sensitive on positive pitch
 _PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up
 _YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
 
-_HI_STD_TIMEOUT = 2
+_HI_STD_TIMEOUT = 5
+_HI_STD_FALLBACK_TIME = 10 # fall back to wheel touch if model is uncertain for a long time
 _DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
 
 _POSE_CALIB_MIN_SPEED = 13 # 30 mph
-_POSE_OFFSET_MIN_COUNT = 600 # valid data counts before calibration completes, 1 seg is 600 counts
-_POSE_OFFSET_MAX_COUNT = 3600 # stop deweighting new data after 6 min, aka "short term memory"
+_POSE_OFFSET_MIN_COUNT = 60 # valid data counts before calibration completes, 1 seg is 600 counts
+_POSE_OFFSET_MAX_COUNT = 360 # stop deweighting new data after 6 min, aka "short term memory"
 
 _RECOVERY_FACTOR_MAX = 5. # relative to minus step change
 _RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
 
 MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
-MAX_TERMINAL_DURATION = 3000 # 30s
+MAX_TERMINAL_DURATION = 300 # 30s
 
 # model output refers to center of cropped image, so need to apply the x displacement offset
 RESIZED_FOCAL = 320.0
@@ -115,7 +116,7 @@ class DriverStatus():
   def _set_timers(self, active_monitoring):
     if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
       if active_monitoring:
-        self.step_change = DT_CTRL / _DISTRACTED_TIME
+        self.step_change = DT_DMON / _DISTRACTED_TIME
       else:
         self.step_change = 0.
       return # no exploit after orange alert
@@ -130,7 +131,7 @@ class DriverStatus():
 
       self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
       self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
-      self.step_change = DT_CTRL / _DISTRACTED_TIME
+      self.step_change = DT_DMON / _DISTRACTED_TIME
       self.active_monitoring_mode = True
     else:
       if self.active_monitoring_mode:
@@ -139,7 +140,7 @@ class DriverStatus():
 
       self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
       self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
-      self.step_change = DT_CTRL / _AWARENESS_TIME
+      self.step_change = DT_DMON / _AWARENESS_TIME
       self.active_monitoring_mode = False
 
   def _is_driver_distracted(self, pose, blink):
@@ -168,21 +169,21 @@ class DriverStatus():
     self.pose.cfactor = interp(ep, [0, 0.5, 1], [_METRIC_THRESHOLD_STRICT, _METRIC_THRESHOLD, _METRIC_THRESHOLD_SLACK])/_METRIC_THRESHOLD
     self.blink.cfactor = interp(ep, [0, 0.5, 1], [_BLINK_THRESHOLD_STRICT, _BLINK_THRESHOLD, _BLINK_THRESHOLD_SLACK])/_BLINK_THRESHOLD
 
-  def get_pose(self, driver_monitoring, cal_rpy, car_speed, op_engaged):
+  def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
     # 10 Hz
-    if len(driver_monitoring.faceOrientation) == 0 or len(driver_monitoring.facePosition) == 0 or len(driver_monitoring.faceOrientationStd) == 0 or len(driver_monitoring.facePositionStd) == 0:
+    if len(driver_state.faceOrientation) == 0 or len(driver_state.facePosition) == 0 or len(driver_state.faceOrientationStd) == 0 or len(driver_state.facePositionStd) == 0:
       return
 
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
-    self.pose.pitch_std = driver_monitoring.faceOrientationStd[0]
-    self.pose.yaw_std = driver_monitoring.faceOrientationStd[1]
-    # self.pose.roll_std = driver_monitoring.faceOrientationStd[2]
-    max_std = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = max_std < _POSESTD_THRESHOLD
-    self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
-    self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
-    self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD and \
-                          abs(driver_monitoring.facePosition[0]) <= 0.4 and abs(driver_monitoring.facePosition[1]) <= 0.45 and \
+    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy)
+    self.pose.pitch_std = driver_state.faceOrientationStd[0]
+    self.pose.yaw_std = driver_state.faceOrientationStd[1]
+    # self.pose.roll_std = driver_state.faceOrientationStd[2]
+    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
+    self.pose.low_std = model_std_max < _POSESTD_THRESHOLD
+    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb>_EYE_THRESHOLD)
+    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb>_EYE_THRESHOLD)
+    self.face_detected = driver_state.faceProb > _FACE_THRESHOLD and \
+                          abs(driver_state.facePosition[0]) <= 0.4 and abs(driver_state.facePosition[1]) <= 0.45 and \
                           not self.is_rhd_region
 
     self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0
@@ -198,9 +199,11 @@ class DriverStatus():
     self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
                             self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
 
-    self._set_timers(self.face_detected)
+    is_model_uncertain = self.hi_stds * DT_DMON > _HI_STD_FALLBACK_TIME
+    self._set_timers(self.face_detected and not is_model_uncertain)
     if self.face_detected and not self.pose.low_std:
-      self.step_change *= max(0, (max_std-0.5)*(max_std-2))
+      if not is_model_uncertain:
+        self.step_change *= max(0, (model_std_max-0.5)*(model_std_max-2))
       self.hi_stds += 1
     elif self.face_detected and self.pose.low_std:
       self.hi_stds = 0
@@ -219,7 +222,7 @@ class DriverStatus():
     if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT:
       events.append(create_event('driverMonitorLowAcc', [ET.WARNING]))
 
-    if (driver_attentive and self.face_detected and self.awareness > 0):
+    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
       # only restore awareness when paying attention and alert is not red
       self.awareness = min(self.awareness + ((_RECOVERY_FACTOR_MAX-_RECOVERY_FACTOR_MIN)*(1.-self.awareness)+_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
       if self.awareness == 1.:
@@ -229,7 +232,7 @@ class DriverStatus():
         return events
 
     # should always be counting if distracted unless at standstill and reaching orange
-    if (not self.face_detected or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
+    if (not (self.face_detected and self.hi_stds * DT_DMON <= _HI_STD_FALLBACK_TIME) or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
        not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
       self.awareness = max(self.awareness - self.step_change, -0.1)
 

selfdrive/controls/tests/test_monitoring.py

@@ -1,6 +1,6 @@
 import unittest
 import numpy as np
-from common.realtime import DT_CTRL, DT_DMON
+from common.realtime import DT_DMON
 from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, \
                                   _AWARENESS_TIME, _AWARENESS_PRE_TIME_TILL_TERMINAL, \
                                   _AWARENESS_PROMPT_TIME_TILL_TERMINAL, _DISTRACTED_TIME, \
@@ -63,8 +63,6 @@ def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status,
     DS.get_pose(driver_state_msgs[idx], [0,0,0], 0, openpilot_status[idx])
                 # cal_rpy and car_speed don't matter here
 
-    # to match frequency of controlsd (100Hz)
-    for _ in range(int(DT_DMON/DT_CTRL)):
     event_per_state = DS.update([], driver_car_interaction[idx], openpilot_status[idx], car_standstill_status[idx])
     events_from_DM.append(event_per_state) # evaluate events at 10Hz for tests
 
@@ -228,7 +226,7 @@ class TestMonitoring(unittest.TestCase):
     self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)][1].name, 'preDriverDistracted')
     self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)][1].name, 'promptDriverDistracted')
     self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)][1].name, 'promptDriverDistracted')
-    self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)][1].name, 'driverDistracted')
+    self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)][1].name, 'promptDriverDistracted') # set_timer blocked
 
 if __name__ == "__main__":
   print('MAX_TERMINAL_ALERTS', MAX_TERMINAL_ALERTS)

selfdrive/debug/cpu_usage_stat.py

@@ -30,7 +30,7 @@ SLEEP_INTERVAL = 0.2
 
 monitored_proc_names = [
   'ubloxd', 'thermald', 'uploader', 'deleter', 'controlsd', 'plannerd', 'radard', 'mapd', 'loggerd' , 'logmessaged', 'tombstoned',
-  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'ui',  'calibrationd', 'params_learner', 'modeld', 'monitoringd', 'camerad', 'sensord', 'updated', 'gpsd', 'athena']
+  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'ui',  'calibrationd', 'params_learner', 'modeld', 'dmonitoringmodeld', 'camerad', 'sensord', 'updated', 'gpsd', 'athena']
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
 timer = getattr(time, 'monotonic', time.time)

selfdrive/manager.py

@@ -136,6 +136,7 @@ managed_processes = {
   "controlsd": "selfdrive.controls.controlsd",
   "plannerd": "selfdrive.controls.plannerd",
   "radard": "selfdrive.controls.radard",
+  "dmonitoringd": "selfdrive.controls.dmonitoringd",
   "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
   "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
   "logmessaged": "selfdrive.logmessaged",
@@ -152,7 +153,7 @@ managed_processes = {
   "clocksd": ("selfdrive/clocksd", ["./clocksd"]),
   "gpsd": ("selfdrive/sensord", ["./gpsd"]),
   "updated": "selfdrive.updated",
-  "monitoringd": ("selfdrive/modeld", ["./monitoringd"]),
+  "dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
   "modeld": ("selfdrive/modeld", ["./modeld"]),
 }
 
@@ -194,6 +195,7 @@ car_started_processes = [
   'plannerd',
   'loggerd',
   'radard',
+  'dmonitoringd',
   'calibrationd',
   'paramsd',
   'camerad',
@@ -206,7 +208,7 @@ if ANDROID:
     'sensord',
     'clocksd',
     'gpsd',
-    'monitoringd',
+    'dmonitoringmodeld',
     'deleter',
   ]
 

selfdrive/modeld/SConscript

@@ -24,9 +24,9 @@ else:
 
 common = lenv.Object(common_src)
 
-lenv.Program('_monitoringd', [
-    "monitoringd.cc",
-    "models/monitoring.cc",
+lenv.Program('_dmonitoringmodeld', [
+    "dmonitoringmodeld.cc",
+    "models/dmonitoring.cc",
   ]+common, LIBS=libs)
 
 lenv.Program('_modeld', [

selfdrive/modeld/dmonitoringmodeld

@@ -1,5 +1,5 @@
 #!/bin/sh
 export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64-android-clang3.8:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
 export ADSP_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64-android-clang3.8/"
-exec ./_monitoringd
+exec ./_dmonitoringmodeld
 

selfdrive/modeld/dmonitoringmodeld.cc

@@ -8,7 +8,7 @@
 #include "common/visionipc.h"
 #include "common/swaglog.h"
 
-#include "models/monitoring.h"
+#include "models/dmonitoring.h"
 
 #ifndef PATH_MAX
 #include <linux/limits.h>
@@ -27,11 +27,11 @@ int main(int argc, char **argv) {
 
   // messaging
   Context *msg_context = Context::create();
-  PubSocket *monitoring_sock = PubSocket::create(msg_context, "driverMonitoring");
+  PubSocket *dmonitoring_sock = PubSocket::create(msg_context, "driverState");
 
   // init the models
-  MonitoringState monitoring;
-  monitoring_init(&monitoring);
+  DMonitoringModelState dmonitoringmodel;
+  dmonitoring_init(&dmonitoringmodel);
 
   // loop
   VisionStream stream;
@@ -58,14 +58,14 @@ int main(int argc, char **argv) {
 
       double t1 = millis_since_boot();
 
-      MonitoringResult res = monitoring_eval_frame(&monitoring, buf->addr, buf_info.width, buf_info.height);
+      DMonitoringResult res = dmonitoring_eval_frame(&dmonitoringmodel, buf->addr, buf_info.width, buf_info.height);
 
       double t2 = millis_since_boot();
 
       // send dm packet
-      monitoring_publish(monitoring_sock, extra.frame_id, res);
+      dmonitoring_publish(dmonitoring_sock, extra.frame_id, res);
 
-      LOGD("monitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
+      LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
       last = t1;
     }
 
@@ -73,8 +73,8 @@ int main(int argc, char **argv) {
 
   visionstream_destroy(&stream);
 
-  delete monitoring_sock;
-  monitoring_free(&monitoring);
+  delete dmonitoring_sock;
+  dmonitoring_free(&dmonitoringmodel);
 
   return 0;
 }

selfdrive/modeld/models/dmonitoring.cc

@@ -1,5 +1,5 @@
 #include <string.h>
-#include "monitoring.h"
+#include "dmonitoring.h"
 #include "common/mat.h"
 #include "common/timing.h"
 
@@ -10,11 +10,11 @@
 #define MODEL_HEIGHT 320
 #define FULL_W 426
 
-void monitoring_init(MonitoringState* s) {
-  s->m = new DefaultRunModel("../../models/monitoring_model_q.dlc", (float*)&s->output, OUTPUT_SIZE, USE_DSP_RUNTIME);
+void dmonitoring_init(DMonitoringModelState* s) {
+  s->m = new DefaultRunModel("../../models/dmonitoring_model_q.dlc", (float*)&s->output, OUTPUT_SIZE, USE_DSP_RUNTIME);
 }
 
-MonitoringResult monitoring_eval_frame(MonitoringState* s, void* stream_buf, int width, int height) {
+DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) {
 
   uint8_t *raw_buf = (uint8_t*) stream_buf;
   uint8_t *raw_y_buf = raw_buf;
@@ -111,7 +111,7 @@ MonitoringResult monitoring_eval_frame(MonitoringState* s, void* stream_buf, int
   s->m->execute(net_input_buf);
   delete[] net_input_buf;
 
-  MonitoringResult ret = {0};
+  DMonitoringResult ret = {0};
   memcpy(&ret.face_orientation, &s->output[0], sizeof ret.face_orientation);
   memcpy(&ret.face_orientation_meta, &s->output[6], sizeof ret.face_orientation_meta);
   memcpy(&ret.face_position, &s->output[3], sizeof ret.face_position);
@@ -129,13 +129,13 @@ MonitoringResult monitoring_eval_frame(MonitoringState* s, void* stream_buf, int
   return ret;
 }
 
-void monitoring_publish(PubSocket* sock, uint32_t frame_id, const MonitoringResult res) {
+void dmonitoring_publish(PubSocket* sock, uint32_t frame_id, const DMonitoringResult res) {
   // make msg
   capnp::MallocMessageBuilder msg;
   cereal::Event::Builder event = msg.initRoot<cereal::Event>();
   event.setLogMonoTime(nanos_since_boot());
 
-  auto framed = event.initDriverMonitoring();
+  auto framed = event.initDriverState();
   framed.setFrameId(frame_id);
 
   kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
@@ -158,6 +158,6 @@ void monitoring_publish(PubSocket* sock, uint32_t frame_id, const MonitoringResu
   sock->send((char*)bytes.begin(), bytes.size());
 }
 
-void monitoring_free(MonitoringState* s) {
+void dmonitoring_free(DMonitoringModelState* s) {
   delete s->m;
 }

selfdrive/modeld/models/dmonitoring.h

@@ -1,5 +1,5 @@
-#ifndef MONITORING_H
-#define MONITORING_H
+#ifndef DMONITORING_H
+#define DMONITORING_H
 
 #include "common/util.h"
 #include "commonmodel.h"
@@ -15,7 +15,7 @@ extern "C" {
 
 #define OUTPUT_SIZE 33
 
-typedef struct MonitoringResult {
+typedef struct DMonitoringResult {
   float face_orientation[3];
   float face_orientation_meta[3];
   float face_position[2];
@@ -25,17 +25,17 @@ typedef struct MonitoringResult {
   float right_eye_prob;
   float left_blink_prob;
   float right_blink_prob;
-} MonitoringResult;
+} DMonitoringResult;
 
-typedef struct MonitoringState {
+typedef struct DMonitoringModelState {
   RunModel *m;
   float output[OUTPUT_SIZE];
-} MonitoringState;
+} DMonitoringModelState;
 
-void monitoring_init(MonitoringState* s);
-MonitoringResult monitoring_eval_frame(MonitoringState* s, void* stream_buf, int width, int height);
-void monitoring_publish(PubSocket *sock, uint32_t frame_id, const MonitoringResult res);
-void monitoring_free(MonitoringState* s);
+void dmonitoring_init(DMonitoringModelState* s);
+DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
+void dmonitoring_publish(PubSocket *sock, uint32_t frame_id, const DMonitoringResult res);
+void dmonitoring_free(DMonitoringModelState* s);
 
 #ifdef __cplusplus
 }

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -115,7 +115,7 @@ class Plant():
       Plant.live_params = messaging.pub_sock('liveParameters')
       Plant.health = messaging.pub_sock('health')
       Plant.thermal = messaging.pub_sock('thermal')
-      Plant.driverMonitoring = messaging.pub_sock('driverMonitoring')
+      Plant.driverState = messaging.pub_sock('driverState')
       Plant.cal = messaging.pub_sock('liveCalibration')
       Plant.controls_state = messaging.sub_sock('controlsState')
       Plant.plan = messaging.sub_sock('plan')
@@ -366,11 +366,11 @@ class Plant():
     live_parameters.liveParameters.stiffnessFactor = 1.0
     Plant.live_params.send(live_parameters.to_bytes())
 
-    driver_monitoring = messaging.new_message()
-    driver_monitoring.init('driverMonitoring')
-    driver_monitoring.driverMonitoring.faceOrientation = [0.] * 3
-    driver_monitoring.driverMonitoring.facePosition = [0.] * 2
-    Plant.driverMonitoring.send(driver_monitoring.to_bytes())
+    driver_state = messaging.new_message()
+    driver_state.init('driverState')
+    driver_state.driverState.faceOrientation = [0.] * 3
+    driver_state.driverState.facePosition = [0.] * 2
+    Plant.driverState.send(driver_state.to_bytes())
 
     health = messaging.new_message()
     health.init('health')

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -338,6 +338,7 @@ class LongitudinalControl(unittest.TestCase):
     manager.prepare_managed_process('radard')
     manager.prepare_managed_process('controlsd')
     manager.prepare_managed_process('plannerd')
+    manager.prepare_managed_process('dmonitoringd')
 
   @classmethod
   def tearDownClass(cls):
@@ -354,13 +355,13 @@ def run_maneuver_worker(k):
 
   def run(self):
     print(man.title)
-
     valid = False
 
     for retries in range(3):
       manager.start_managed_process('radard')
       manager.start_managed_process('controlsd')
       manager.start_managed_process('plannerd')
+      manager.start_managed_process('dmonitoringd')
 
       plot, valid = man.evaluate()
       plot.write_plot(output_dir, "maneuver" + str(k + 1).zfill(2))
@@ -368,6 +369,7 @@ def run_maneuver_worker(k):
       manager.kill_managed_process('radard')
       manager.kill_managed_process('controlsd')
       manager.kill_managed_process('plannerd')
+      manager.kill_managed_process('dmonitoringd')
 
       if valid:
         break

selfdrive/test/process_replay/process_replay.py

@@ -198,7 +198,7 @@ CONFIGS = [
     proc_name="controlsd",
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
-      "thermal": [], "health": [], "liveCalibration": [], "driverMonitoring": [], "plan": [], "pathPlan": [], "gpsLocation": [],
+      "thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [],
       "model": [],
     },
     ignore=[("logMonoTime", 0), ("valid", True), ("controlsState.startMonoTime", 0), ("controlsState.cumLagMs", 0)],
@@ -234,6 +234,16 @@ CONFIGS = [
     init_callback=get_car_params,
     should_recv_callback=calibration_rcv_callback,
   ),
+  ProcessConfig(
+    proc_name="dmonitoringd",
+    pub_sub={
+      "driverState": ["dMonitoringState"],
+      "liveCalibration": [], "carState": [], "model": [], "gpsLocation": [],
+    },
+    ignore=[("logMonoTime", 0), ("valid", True)],
+    init_callback=get_car_params,
+    should_recv_callback=None,
+  ),
 ]
 
 def replay_process(cfg, lr):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-fe9ccb27b12c9d3788bed8a402293985f5eb0448
+bc89e6f25e88a904ad905296d516aaebb77e2207

selfdrive/test/test_openpilot.py

@@ -80,7 +80,7 @@ def test_logging():
   time.sleep(1.0)
 
 @phone_only
-@with_processes(['camerad', 'modeld', 'monitoringd'])
+@with_processes(['camerad', 'modeld', 'dmonitoringmodeld'])
 def test_visiond():
   print("VISIOND IS SET UP")
   time.sleep(5.0)