driver monitoring cleanup (#2101)

* read rhd from param

* don't need that anymore

* fix build

* bump cereal

* read param from camerad too

* add read_db_bool helper

* bump model replay ref commit, IsRHD wasn't set
old-commit-hash: 349040d958

cereal

@@ -1 +1 @@
-Subproject commit 78b8887198a4d4c86d1e7e251dcb38b6e6672710
+Subproject commit 1538183eaa3c9a22a3e675182d6e1cc8e23ad574

selfdrive/camerad/main.cc

@@ -1,6 +1,7 @@
 #include <stdio.h>
 #include <signal.h>
 #include <cassert>
+#include <vector>
 
 #if defined(QCOM) && !defined(QCOM_REPLAY)
 #include "cameras/camera_qcom.h"
@@ -13,6 +14,7 @@
 #endif
 
 #include "common/util.h"
+#include "common/params.h"
 #include "common/swaglog.h"
 
 #include "common/ipc.h"
@@ -145,8 +147,8 @@ struct VisionState {
   int rgb_front_width, rgb_front_height, rgb_front_stride;
   VisionBuf rgb_front_bufs[UI_BUF_COUNT];
   cl_mem rgb_front_bufs_cl[UI_BUF_COUNT];
+
   bool rhd_front;
-  bool rhd_front_checked;
   int front_meteringbox_xmin, front_meteringbox_xmax;
   int front_meteringbox_ymin, front_meteringbox_ymax;
 
@@ -181,11 +183,12 @@ struct VisionState {
 void* frontview_thread(void *arg) {
   int err;
   VisionState *s = (VisionState*)arg;
+  s->rhd_front = read_db_bool("IsRHD");
 
   set_thread_name("frontview");
   // we subscribe to this for placement of the AE metering box
   // TODO: the loop is bad, ideally models shouldn't affect sensors
-  SubMaster sm({"driverState", "dMonitoringState"});
+  SubMaster sm({"driverState"});
 
   cl_command_queue q = clCreateCommandQueue(s->context, s->device_id, 0, &err);
   assert(err == 0);
@@ -236,12 +239,6 @@ void* frontview_thread(void *arg) {
     visionbuf_sync(&s->rgb_front_bufs[ui_idx], VISIONBUF_SYNC_FROM_DEVICE);
 
     sm.update(0);
-    // no more check after gps check
-    if (!s->rhd_front_checked && sm.updated("dMonitoringState")) {
-      auto state = sm["dMonitoringState"].getDMonitoringState();
-      s->rhd_front = state.getIsRHD();
-      s->rhd_front_checked = state.getRhdChecked();
-    }
 
 #ifdef NOSCREEN
     if (frame_data.frame_id % 4 == 2) {

selfdrive/common/params.cc

@@ -366,3 +366,8 @@ std::vector<char> read_db_bytes(const char* param_name, bool persistent_param) {
   }
   return bytes;
 }
+
+bool read_db_bool(const char* param_name, bool persistent_param) {
+  std::vector<char> bytes = read_db_bytes(param_name, persistent_param);
+  return bytes.size() > 0 and bytes[0] == '1';
+}

selfdrive/common/params.h

@@ -40,4 +40,5 @@ void read_db_value_blocking(const char* key, char** value, size_t* value_sz, boo
 #include <vector>
 int read_db_all(std::map<std::string, std::string> *params, bool persistent_param = false);
 std::vector<char> read_db_bytes(const char* param_name, bool persistent_param = false);
+bool read_db_bool(const char* param_name, bool persistent_param = false);
 #endif

selfdrive/modeld/dmonitoringmodeld.cc

@@ -49,7 +49,6 @@ int main(int argc, char **argv) {
     LOGW("connected with buffer size: %d", buf_info.buf_len);
 
     double last = 0;
-    int chk_counter = 0;
     while (!do_exit) {
       VIPCBuf *buf;
       VIPCBufExtra extra;
@@ -58,23 +57,9 @@ int main(int argc, char **argv) {
         printf("visionstream get failed\n");
         break;
       }
-      //printf("frame_id: %d %dx%d\n", extra.frame_id, buf_info.width, buf_info.height);
-      if (!dmonitoringmodel.is_rhd_checked) {
-        if (chk_counter >= RHD_CHECK_INTERVAL) {
-          if (sm.update(0) > 0) {
-            auto state = sm["dMonitoringState"].getDMonitoringState();
-            dmonitoringmodel.is_rhd = state.getIsRHD();
-            dmonitoringmodel.is_rhd_checked = state.getRhdChecked();
-          }
-          chk_counter = 0;
-        }
-        chk_counter += 1;
-      }
 
       double t1 = millis_since_boot();
-
       DMonitoringResult res = dmonitoring_eval_frame(&dmonitoringmodel, buf->addr, buf_info.width, buf_info.height);
-
       double t2 = millis_since_boot();
 
       // send dm packet

selfdrive/modeld/models/dmonitoring.cc

@@ -2,6 +2,7 @@
 #include "dmonitoring.h"
 #include "common/mat.h"
 #include "common/timing.h"
+#include "common/params.h"
 
 #include <libyuv.h>
 
@@ -22,8 +23,7 @@ void dmonitoring_init(DMonitoringModelState* s) {
   const char* model_path = "../../models/dmonitoring_model.dlc";
 #endif
   s->m = new DefaultRunModel(model_path, (float*)&s->output, OUTPUT_SIZE, USE_DSP_RUNTIME);
-  s->is_rhd = false;
+  s->is_rhd = read_db_bool("IsRHD");
-  s->is_rhd_checked = false;
 }
 
 template <class T>

selfdrive/modeld/models/dmonitoring.h

@@ -10,7 +10,6 @@ extern "C" {
 #endif
 
 #define OUTPUT_SIZE 34
-#define RHD_CHECK_INTERVAL 10
 
 typedef struct DMonitoringResult {
   float face_orientation[3];
@@ -28,7 +27,6 @@ typedef struct DMonitoringResult {
 typedef struct DMonitoringModelState {
   RunModel *m;
   bool is_rhd;
-  bool is_rhd_checked;
   float output[OUTPUT_SIZE];
   std::vector<uint8_t> resized_buf;
   std::vector<uint8_t> cropped_buf;

selfdrive/modeld/models/driving.cc

@@ -54,14 +54,11 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
   s->traffic_convention = std::make_unique<float[]>(TRAFFIC_CONVENTION_LEN);
   s->m->addTrafficConvention(s->traffic_convention.get(), TRAFFIC_CONVENTION_LEN);
 
-  std::vector<char> result = read_db_bytes("IsRHD");
+  bool is_rhd = read_db_bool("IsRHD");
-  if (result.size() > 0) {
+  if (is_rhd) {
-    bool is_rhd = result[0] == '1';
+    s->traffic_convention[1] = 1.0;
-    if (is_rhd) {
+  } else {
-      s->traffic_convention[1] = 1.0;
+    s->traffic_convention[0] = 1.0;
-    } else {
-      s->traffic_convention[0] = 1.0;
-    }
   }
 #endif
 

selfdrive/monitoring/dmonitoringd.py

@@ -20,12 +20,10 @@ def dmonitoringd_thread(sm=None, pm=None):
   if sm is None:
     sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'])
 
-  is_rhd = Params().get("IsRHD")
-  offroad = Params().get("IsOffroad") == b"1"
-
   driver_status = DriverStatus()
-  driver_status.is_rhd_region = is_rhd == b"1"
+  driver_status.is_rhd_region = Params().get("IsRHD") == b"1"
-  driver_status.is_rhd_region_checked = is_rhd is not None
+
+  offroad = Params().get("IsOffroad") == b"1"
 
   sm['liveCalibration'].calStatus = Calibration.INVALID
   sm['liveCalibration'].rpyCalib = [0, 0, 0]
@@ -78,7 +76,6 @@ def dmonitoringd_thread(sm=None, pm=None):
         "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(),

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-55aee68ca0f3c5ba9fa5b100d21149cad79b732b
+734ee7118a5bcab4accdd73ae8fdc03df104157a