From 46e3f4528fd0dc38e6da73843ebc85cefb926f74 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 9 Jun 2021 16:18:14 -0700
Subject: [PATCH] dm e2e outputs added (#21210)

* try this

* use e2e only

* add new outputs

* Revert "use e2e only"

This reverts commit 423dd8e29b88d892074f6f6a0e103681147ff6cc.

* send new

* fix batchnorm
---
 cereal                                 | 2 +-
 models/dmonitoring_model.current       | 2 +-
 models/dmonitoring_model.onnx          | 4 ++--
 models/dmonitoring_model_q.dlc         | 4 ++--
 selfdrive/modeld/models/dmonitoring.cc | 4 ++++
 selfdrive/modeld/models/dmonitoring.h  | 4 +++-
 6 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/cereal b/cereal
index cde8667d3b..018e7b5c9b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit cde8667d3bacb71d324b06b3d803c8fd7c59d2db
+Subproject commit 018e7b5c9bd1ea65baf98326f8c95f849551d5c0
diff --git a/models/dmonitoring_model.current b/models/dmonitoring_model.current
index e672389f37..ae6fb8795f 100644
--- a/models/dmonitoring_model.current
+++ b/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
 6272770f-5230-4a10-ae5e-c8f3d205ea96
-0087a1181516dd0c64d7f7a58d53905e2cc76b72
\ No newline at end of file
+abbc836aaa1e940c56673b6f42f5762ad71b35e1
\ No newline at end of file
diff --git a/models/dmonitoring_model.onnx b/models/dmonitoring_model.onnx
index c388559d25..1a52170c5e 100644
--- a/models/dmonitoring_model.onnx
+++ b/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6c9c3929d230dbf74cf1c601f217405774204ccbb37219942aa62ab50b3ad1a8
-size 3790368
+oid sha256:ee9a4453c8c704bc510410b2cc6bac647e8cf9a1758e56247ee283ed5e60020a
+size 8970731
diff --git a/models/dmonitoring_model_q.dlc b/models/dmonitoring_model_q.dlc
index 4905b82203..e1aec7f950 100644
--- a/models/dmonitoring_model_q.dlc
+++ b/models/dmonitoring_model_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3ac23c84799c40e84a0337f6a424a541bbd7fd11604e509134712d4f2a07fa95
-size 1067993
+oid sha256:ddc09891aac9746bc2fe63dc10e1757a02c7a4589c9fc4c1c7ed07298a1e3107
+size 2374030
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index b16062dbe9..0524640d29 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -162,6 +162,8 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
   ret.partial_face = s->output[35];
   ret.distracted_pose = s->output[36];
   ret.distracted_eyes = s->output[37];
+  ret.eyes_on_road = s->output[38];
+  ret.phone_use = s->output[39];
   ret.dsp_execution_time = (t2 - t1) / 1000.;
   return ret;
 }
@@ -188,6 +190,8 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
   framed.setPartialFace(res.partial_face);
   framed.setDistractedPose(res.distracted_pose);
   framed.setDistractedEyes(res.distracted_eyes);
+  framed.setEyesOnRoad(res.eyes_on_road);
+  framed.setPhoneUse(res.phone_use);
   if (send_raw_pred) {
     framed.setRawPredictions(raw_pred.asBytes());
   }
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index 2a134b7b6b..b16d86474b 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -7,7 +7,7 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 #include "selfdrive/modeld/runners/run.h"
 
-#define OUTPUT_SIZE 38
+#define OUTPUT_SIZE 40
 
 typedef struct DMonitoringResult {
   float face_orientation[3];
@@ -24,6 +24,8 @@ typedef struct DMonitoringResult {
   float partial_face;
   float distracted_pose;
   float distracted_eyes;
+  float eyes_on_road;
+  float phone_use;
   float dsp_execution_time;
 } DMonitoringResult;