Reduced wheel touch time (#2259)

* decrease wheel touch time

* update refs

* fix unittest

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 21d4ac1eeb

selfdrive/monitoring/driver_monitor.py

@@ -14,9 +14,9 @@ EventName = car.CarEvent.EventName
 #  We recommend that you do not change these numbers from the defaults.
 # ******************************************************************************************
 
-_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 15s before expiration
-_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.  # a second alert is issued 6s before start decelerating the car
+_AWARENESS_TIME = 35.  # passive wheel touch total timeout
+_AWARENESS_PRE_TIME_TILL_TERMINAL = 7.
+_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5.
 _DISTRACTED_TIME = 11.
 _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.

selfdrive/monitoring/test_monitoring.py

@@ -141,7 +141,7 @@ class TestMonitoring(unittest.TestCase):
   # 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
   #  - both actions should clear the alert, but momentary appearence should not
   def test_sometimes_transparent_commuter(self):
-      _visible_time = np.random.choice([1, 10])  # seconds
+      _visible_time = np.random.choice([0.5, 10])  # seconds
       # print _visible_time
       ds_vector = always_no_face[:]*2
       interaction_vector = always_false[:]*2
@@ -151,7 +151,7 @@ class TestMonitoring(unittest.TestCase):
       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)].names[0], EventName.promptDriverUnresponsive)
       self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0)
-      if _visible_time == 1:
+      if _visible_time == 0.5:
         self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
         self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive)
       elif _visible_time == 10:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-eaa9ac421abee09dfc2bac3b85423d3980f6e67b
+6acafbadc569c82412a2370e61d8de619255b25a