auto choose

selfdrive/monitoring/dmonitoringd.py

@@ -3,7 +3,6 @@ import gc
 
 import cereal.messaging as messaging
 from cereal import car
-from common.params import Params
 from common.realtime import set_realtime_priority
 from selfdrive.controls.lib.events import Events
 from selfdrive.locationd.calibrationd import Calibration
@@ -20,7 +19,7 @@ def dmonitoringd_thread(sm=None, pm=None):
   if sm is None:
     sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
-  driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
+  driver_status = DriverStatus()
 
   sm['liveCalibration'].calStatus = Calibration.INVALID
   sm['liveCalibration'].rpyCalib = [0, 0, 0]

selfdrive/monitoring/driver_monitor.py

@@ -115,12 +115,12 @@ class DriverBlink():
     self.right_blink = 0.
 
 class DriverStatus():
-  def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
+  def __init__(self, settings=DRIVER_MONITOR_SETTINGS()):
     # init policy settings
     self.settings = settings
 
     # init driver status
-    # self.wheelpos_learner = RunningStatFilter()
+    self.wheelpos_learner = RunningStatFilter()
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
     self.pose_calibrated = False
     self.blink = DriverBlink()
@@ -137,7 +137,7 @@ class DriverStatus():
     self.distracted_types = []
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
-    self.wheel_on_right = rhd
+    self.wheel_on_right = False
     self.face_detected = False
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
@@ -225,13 +225,13 @@ class DriverStatus():
                                             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
-    # if car_speed > 0.01:
-    #   self.wheelpos_learner.push_and_update(rhd_pred)
-    # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
-    #   self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
-    # else:
-    #   self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
+    rhd_pred = driver_state.wheelOnRightProb
+    if car_speed > 0.01:
+      self.wheelpos_learner.push_and_update(rhd_pred)
+    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
+      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    else:
+      self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
     driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
                                     driver_data.faceOrientationStd, driver_data.facePositionStd,