diff --git a/selfdrive/controls/tests/test_monitoring.py b/selfdrive/controls/tests/test_monitoring.py index 95921b495b..79ef7e6ca9 100644 --- a/selfdrive/controls/tests/test_monitoring.py +++ b/selfdrive/controls/tests/test_monitoring.py @@ -69,7 +69,7 @@ def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status, events_from_DM.append(event_per_state) # evaluate events at 10Hz for tests assert len(events_from_DM)==len(driver_state_msgs), 'somethings wrong' - return events_from_DM + return events_from_DM, DS class TestMonitoring(unittest.TestCase): # -1. rhd parser sanity check @@ -87,12 +87,12 @@ class TestMonitoring(unittest.TestCase): # 0. op engaged, driver is doing fine all the time def test_fully_aware_driver(self): - events_output = run_DState_seq(always_attentive, always_false, always_true, always_false) + events_output = run_DState_seq(always_attentive, always_false, always_true, always_false)[0] self.assertTrue(np.sum([len(event) for event in events_output])==0) # 1. op engaged, driver is distracted and does nothing def test_fully_distracted_driver(self): - events_output = run_DState_seq(always_distracted, always_false, always_true, always_false) + events_output, d_status = run_DState_seq(always_distracted, always_false, always_true, always_false) self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0) self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+\ ((_DISTRACTED_PRE_TIME_TILL_TERMINAL-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverDistracted') @@ -100,10 +100,11 @@ class TestMonitoring(unittest.TestCase): ((_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'promptDriverDistracted') self.assertEqual(events_output[int((_DISTRACTED_TIME+\ ((_TEST_TIMESPAN-10-_DISTRACTED_TIME)/2))/DT_DMON)][0].name, 'driverDistracted') + self.assertTrue(type(d_status.awareness)==float) # 2. op engaged, no face detected the whole time, no action def test_fully_invisible_driver(self): - events_output = run_DState_seq(always_no_face, always_false, always_true, always_false) + events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)[0] self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0) self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL+\ ((_AWARENESS_PRE_TIME_TILL_TERMINAL-_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverUnresponsive') @@ -120,7 +121,7 @@ class TestMonitoring(unittest.TestCase): [msg_DISTRACTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON)) interaction_vector = [car_interaction_NOT_DETECTED] * int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \ [car_interaction_DETECTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) - events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false) + events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0] self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0) self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverDistracted') self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)])==0) @@ -139,7 +140,7 @@ class TestMonitoring(unittest.TestCase): ds_vector[int((_DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) interaction_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON) op_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON) - events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false) + events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0] self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)][0].name, 'promptDriverDistracted') self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)][0].name, 'driverDistracted') self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)][0].name, 'driverDistracted') @@ -154,7 +155,7 @@ class TestMonitoring(unittest.TestCase): interaction_vector = always_false[:]*2 ds_vector[int((2*_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*_INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON) interaction_vector[int((_INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) - events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) + events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)[0] self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0) self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive') self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)])==0) @@ -177,7 +178,7 @@ class TestMonitoring(unittest.TestCase): ds_vector[int(_INVISIBLE_SECONDS_TO_RED/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON) interaction_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON) op_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON) - events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false) + events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0] self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0) self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverUnresponsive') self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)][0].name, 'driverUnresponsive') @@ -188,7 +189,7 @@ class TestMonitoring(unittest.TestCase): # 7. op not engaged, always distracted driver # - dm should stay quiet when not engaged def test_pure_dashcam_user(self): - events_output = run_DState_seq(always_distracted, always_false, always_false, always_false) + events_output = run_DState_seq(always_distracted, always_false, always_false, always_false)[0] self.assertTrue(np.sum([len(event) for event in events_output])==0) # 8. op engaged, car stops at traffic light, down to orange, no action, then car starts moving @@ -197,7 +198,7 @@ class TestMonitoring(unittest.TestCase): _redlight_time = 60 # seconds standstill_vector = always_true[:] standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((_TEST_TIMESPAN-_redlight_time)/DT_DMON) - events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector) + events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector)[0] self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)][0].name, 'preDriverDistracted') self.assertEqual(events_output[int((_redlight_time-0.1)/DT_DMON)][0].name, 'preDriverDistracted') self.assertEqual(events_output[int((_redlight_time+0.5)/DT_DMON)][0].name, 'promptDriverDistracted') @@ -210,7 +211,7 @@ class TestMonitoring(unittest.TestCase): [msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \ [msg_DISTRACTED_UNCERTAIN] * (int(_TEST_TIMESPAN/DT_DMON)-int((_DISTRACTED_SECONDS_TO_ORANGE+_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)) interaction_vector = always_false[:] - events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false) + events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0] self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0) self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN-0.1)/DT_DMON)][0].name, 'driverMonitorLowAcc') self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)])==0) @@ -221,7 +222,7 @@ class TestMonitoring(unittest.TestCase): def test_somehow_indecisive_model(self): ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(_TEST_TIMESPAN/DT_DMON) interaction_vector = always_false[:] - events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false) + events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0] self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0) self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)][0].name, 'driverMonitorLowAcc') self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)][1].name, 'preDriverDistracted')