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Fix up driver_monitor mod so change requires restart (less query to kernel)

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dragonpilot
2019-09-12 15:48:56 +10:00
parent beb11b88a1
commit b8b2ca7759
1 changed files with 10 additions and 24 deletions
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34
selfdrive/controls/lib/driver_monitor.py
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@@ -1,5 +1,5 @@
import numpy as np
from common.realtime import sec_since_boot, DT_CTRL, DT_DMON
from common.realtime import DT_CTRL, DT_DMON
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from common.filter_simple import FirstOrderFilter
from common.stat_live import RunningStatFilter
@@ -96,11 +96,12 @@ class DriverStatus():
self.is_rhd_region = False
self.is_rhd_region_checked = False
self._set_timers(active_monitoring=True)
# dragonpilot
self.dp_last_check = 0.
self.dragon_enable_driver_safety_check = True
self.awareness_time = float(params.get("DragonSteeringMonitorTimer"))
self.awareness_time = _AWARENESS_TIME if self.awareness_time <= 0. else self.awareness_time * 60.
self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
self._set_timers(active_monitoring=True)
def _set_timers(self, active_monitoring):
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
@@ -127,11 +128,9 @@ class DriverStatus():
self.awareness_active = self.awareness
self.awareness = self.awareness_passive
awareness_time = float(params.get("DragonSteeringMonitorTimer")) * 60
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / awareness_time
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / awareness_time
self.step_change = DT_CTRL / awareness_time
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / self.awareness_time
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.awareness_time
self.step_change = DT_CTRL / self.awareness_time
self.active_monitoring_mode = False
def _is_driver_distracted(self, pose, blink):
@@ -181,7 +180,7 @@ class DriverStatus():
self._set_timers(self.face_detected)
def update(self, events, driver_engaged, ctrl_active, standstill):
if (driver_engaged and self.awareness > 0) or not ctrl_active:
if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check:
# reset only when on disengagement if red reached
self.awareness = 1.
self.awareness_active = 1.
@@ -205,19 +204,6 @@ class DriverStatus():
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
# dragonpilot
# don't check for param too often as it's a kernel call
ts = sec_since_boot()
if ts - self.dp_last_check > 3.:
self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
self.dp_last_check = ts
if not self.dragon_enable_driver_safety_check:
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
return events
alert = None
if self.awareness <= 0.:
# terminal red alert: disengagement required