Toggle to always enable DM (#32205)

* permanent * param * correct behavior * toggle * need trans * ref_commit * translate for chs/t * disable on P and R * read
2026-02-20 01:13:56 +08:00 · 2024-04-17 12:56:37 -07:00
parent 046066032a
commit 1d05704d27
17 changed files with 112 additions and 14 deletions
--- a/common/params.cc
+++ b/common/params.cc
@@ -89,6 +89,7 @@ private:

 std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AlwaysOnDM", PERSISTENT},
    {"ApiCache_Device", PERSISTENT},
    {"ApiCache_NavDestinations", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -433,7 +433,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.preDriverDistracted: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
      "Pay Attention",
      "",
      AlertStatus.normal, AlertSize.small,
@@ -441,7 +441,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.promptDriverDistracted: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
      "Pay Attention",
      "Driver Distracted",
      AlertStatus.userPrompt, AlertSize.mid,
@@ -449,7 +449,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.driverDistracted: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
      "DISENGAGE IMMEDIATELY",
      "Driver Distracted",
      AlertStatus.critical, AlertSize.full,
@@ -457,7 +457,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.preDriverUnresponsive: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
      "Touch Steering Wheel: No Face Detected",
      "",
      AlertStatus.normal, AlertSize.small,
@@ -465,7 +465,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.promptDriverUnresponsive: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
      "Touch Steering Wheel",
      "Driver Unresponsive",
      AlertStatus.userPrompt, AlertSize.mid,
@@ -473,7 +473,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },

  EventName.driverUnresponsive: {
-    ET.WARNING: Alert(
+    ET.PERMANENT: Alert(
      "DISENGAGE IMMEDIATELY",
      "Driver Unresponsive",
      AlertStatus.critical, AlertSize.full,
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -17,7 +17,7 @@ def dmonitoringd_thread():
  pm = messaging.PubMaster(['driverMonitoringState'])
  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')

-  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))
+  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))

  v_cruise_last = 0
  driver_engaged = False
@@ -52,7 +52,8 @@ def dmonitoringd_thread():
      events.add(car.CarEvent.EventName.tooDistracted)

    # Update events from driver state
-    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
+    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled,
+      sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park])

    # build driverMonitoringState packet
    dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
@@ -76,6 +77,9 @@ def dmonitoringd_thread():
    }
    pm.send('driverMonitoringState', dat)

+    if sm['driverStateV2'].frameId % 40 == 1:
+      driver_status.always_on = params.get_bool("AlwaysOnDM")
+
    # save rhd virtual toggle every 5 mins
    if (sm['driverStateV2'].frameId % 6000 == 0 and
     driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -121,7 +121,7 @@ class DriverBlink():
    self.right_blink = 0.

 class DriverStatus():
-  def __init__(self, rhd_saved=False, settings=None):
+  def __init__(self, rhd_saved=False, settings=None, always_on=False):
    if settings is None:
      settings = DRIVER_MONITOR_SETTINGS()
    # init policy settings
@@ -139,6 +139,7 @@ class DriverStatus():
    self.ee1_calibrated = False
    self.ee2_calibrated = False

+    self.always_on = always_on
    self.awareness = 1.
    self.awareness_active = 1.
    self.awareness_passive = 1.
@@ -301,8 +302,12 @@ class DriverStatus():
    elif self.face_detected and self.pose.low_std:
      self.hi_stds = 0

-  def update_events(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or not ctrl_active: # reset only when on disengagement if red reached
+  def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear):
+    always_on_valid = self.always_on and not wrong_gear
+    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
+       (not always_on_valid and not ctrl_active) or \
+       (always_on_valid and not ctrl_active and self.awareness <= 0):
+      # always reset on disengage with normal mode; disengage resets only on red if always on
      self._reset_awareness()
      return

@@ -323,11 +328,13 @@ class DriverStatus():
        return

    standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
+    always_on_red_exemption = always_on_valid and not ctrl_active and self.awareness - self.step_change <= 0
    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
    if certainly_distracted or maybe_distracted:
      # should always be counting if distracted unless at standstill and reaching orange
-      if not standstill_exemption:
+      # also will not be reaching 0 if DM is active when not engaged
+      if not standstill_exemption and not always_on_red_exemption:
        self.awareness = max(self.awareness - self.step_change, -0.1)

    alert = None
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -63,7 +63,7 @@ class TestMonitoring(unittest.TestCase):
      # cal_rpy and car_speed don't matter here

      # evaluate events at 10Hz for tests
-      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx])
+      DS.update_events(e, interaction[idx], engaged[idx], standstill[idx], 0)
      events.append(e)
    assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
    return events, DS
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-28001018eae89eb4906717bebf892345ad590b5a
+f759be555103697918d5d6c22292ef10536e68bd
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -51,6 +51,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
      "../assets/offroad/icon_warning.png",
    },
+    {
+      "AlwaysOnDM",
+      tr("Always-On Driver Monitoring"),
+      tr("Enable driver monitoring even when openpilot is not engaged."),
+      "../assets/offroad/icon_monitoring.png",
+    },
    {
      "RecordFront",
      tr("Record and Upload Driver Camera"),
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -1182,6 +1182,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -1168,6 +1168,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -1166,6 +1166,14 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation>La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s&apos;affichera également dans le coin supérieur droit.</translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -1160,6 +1160,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -1162,6 +1162,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1166,6 +1166,14 @@ Isso pode levar até um minuto.</translation>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito.</translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -1162,6 +1162,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation>การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย</translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -1160,6 +1160,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1162,6 +1162,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>驾驶员监控常开</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>即使在openpilot未激活时也启用驾驶员监控。</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1162,6 +1162,14 @@ This may take up to a minute.</source>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>駕駛監控常開</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>即使在openpilot未激活時也啟用駕駛監控。</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>