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dmonitoringd: simplify main loop (#32517)

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* one call does all

* no need

* update etst

* filename

* dbf5b05ff480145a79b5941e360d0698b70979cd
old-commit-hash: 204219695f57f6ba76347df4df99e00a28b51e9f
This commit is contained in:
ZwX1616
2024-05-23 20:14:28 -07:00
committed by GitHub
parent 5e70ea98d2
commit bf7724d30b
5 changed files with 150 additions and 140 deletions
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2
release/files_common
View File

@@ -357,7 +357,7 @@ selfdrive/modeld/runners/*.h
selfdrive/modeld/runners/*.py
selfdrive/monitoring/dmonitoringd.py
selfdrive/monitoring/driver_monitor.py
selfdrive/monitoring/helpers.py
selfdrive/navd/.gitignore
selfdrive/navd/__init__.py

66
selfdrive/monitoring/dmonitoringd.py
View File

@@ -2,11 +2,9 @@
import gc
import cereal.messaging as messaging
from cereal import car
from openpilot.common.params import Params
from openpilot.common.realtime import set_realtime_priority
from openpilot.selfdrive.controls.lib.events import Events
from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
def dmonitoringd_thread():
@@ -17,70 +15,30 @@ 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"), always_on=params.get_bool("AlwaysOnDM"))
driver_engaged = False
DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
# 20Hz <- dmonitoringmodeld
while True:
sm.update()
if not sm.updated['driverStateV2']:
if (not sm.updated['driverStateV2']) or (not sm.all_checks()):
# iterate when model has new output
continue
# Get interaction
if sm.updated['carState']:
driver_engaged = sm['carState'].steeringPressed or \
sm['carState'].gasPressed
DM.run_step(sm)
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
# Get data from dmonitoringmodeld
events = Events()
if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
# Block engaging after max number of distrations or when alert active
if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION or \
driver_status.always_on and driver_status.awareness <= driver_status.threshold_prompt:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
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], sm['carState'].vEgo)
# build driverMonitoringState packet
dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
dat.driverMonitoringState = {
"events": events.to_msg(),
"faceDetected": driver_status.face_detected,
"isDistracted": driver_status.driver_distracted,
"distractedType": sum(driver_status.distracted_types),
"awarenessStatus": driver_status.awareness,
"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(),
"poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange": driver_status.step_change,
"awarenessActive": driver_status.awareness_active,
"awarenessPassive": driver_status.awareness_passive,
"isLowStd": driver_status.pose.low_std,
"hiStdCount": driver_status.hi_stds,
"isActiveMode": driver_status.active_monitoring_mode,
"isRHD": driver_status.wheel_on_right,
}
# publish
dat = DM.get_state_packet()
pm.send('driverMonitoringState', dat)
# load live always-on toggle
if sm['driverStateV2'].frameId % 40 == 1:
driver_status.always_on = params.get_bool("AlwaysOnDM")
DM.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
driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
def main():
dmonitoringd_thread()

205
selfdrive/monitoring/driver_monitor.py → selfdrive/monitoring/helpers.py
View File

@@ -1,6 +1,8 @@
from math import atan2
from cereal import car
import cereal.messaging as messaging
from openpilot.selfdrive.controls.lib.events import Events
from openpilot.common.numpy_fast import interp
from openpilot.common.realtime import DT_DMON
from openpilot.common.filter_simple import FirstOrderFilter
@@ -71,19 +73,38 @@ class DRIVER_MONITOR_SETTINGS:
self._MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
class DistractedType:
NOT_DISTRACTED = 0
DISTRACTED_POSE = 1 << 0
DISTRACTED_BLINK = 1 << 1
DISTRACTED_E2E = 1 << 2
class DriverPose:
def __init__(self, max_trackable):
self.yaw = 0.
self.pitch = 0.
self.roll = 0.
self.yaw_std = 0.
self.pitch_std = 0.
self.roll_std = 0.
self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
self.calibrated = False
self.low_std = True
self.cfactor_pitch = 1.
self.cfactor_yaw = 1.
class DriverBlink:
def __init__(self):
self.left = 0.
self.right = 0.
# TODO: get these live
# model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K
cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw
class DistractedType:
NOT_DISTRACTED = 0
DISTRACTED_POSE = 1
DISTRACTED_BLINK = 2
DISTRACTED_E2E = 4
def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
# the output of these angles are in device frame
# so from driver's perspective, pitch is up and yaw is right
@@ -102,26 +123,8 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
yaw -= rpy_calib[2]
return roll_net, pitch, yaw
class DriverPose:
def __init__(self, max_trackable):
self.yaw = 0.
self.pitch = 0.
self.roll = 0.
self.yaw_std = 0.
self.pitch_std = 0.
self.roll_std = 0.
self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
self.low_std = True
self.cfactor_pitch = 1.
self.cfactor_yaw = 1.
class DriverBlink:
def __init__(self):
self.left_blink = 0.
self.right_blink = 0.
class DriverStatus:
class DriverMonitoring:
def __init__(self, rhd_saved=False, settings=None, always_on=False):
if settings is None:
settings = DRIVER_MONITOR_SETTINGS()
@@ -131,7 +134,6 @@ class DriverStatus:
# init driver status
self.wheelpos_learner = RunningStatFilter()
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.pose_calibrated = False
self.blink = DriverBlink()
self.eev1 = 0.
self.eev2 = 1.
@@ -141,9 +143,6 @@ class DriverStatus:
self.ee2_calibrated = False
self.always_on = always_on
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
self.distracted_types = []
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
@@ -160,13 +159,18 @@ class DriverStatus:
self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self._reset_awareness()
self._set_timers(active_monitoring=True)
self._reset_events()
def _reset_awareness(self):
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
def _reset_events(self):
self.current_events = Events()
def _set_timers(self, active_monitoring):
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
if active_monitoring:
@@ -197,41 +201,7 @@ class DriverStatus:
self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
self.active_monitoring_mode = False
def _get_distracted_types(self):
distracted_types = []
if not self.pose_calibrated:
pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
else:
pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
yaw_error = abs(yaw_error)
if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose_calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated:
ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
* self.settings._EE_THRESH12
else:
ee1_dist = self.eev1 > self.settings._EE_THRESH11
# if self.ee2_calibrated:
# ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
# else:
# ee2_dist = self.eev2 < self.settings._EE_THRESH21
if ee1_dist:
distracted_types.append(DistractedType.DISTRACTED_E2E)
return distracted_types
def set_policy(self, model_data, car_speed):
def _set_policy(self, model_data, car_speed):
bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
bp_normal = max(min(bp / k1, 0.5),0)
@@ -242,7 +212,37 @@ class DriverStatus:
[self.settings._POSE_YAW_THRESHOLD_SLACK,
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
def _get_distracted_types(self):
distracted_types = []
if not self.pose.calibrated:
pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
else:
pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
yaw_error = abs(yaw_error)
if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated:
ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
* self.settings._EE_THRESH12
else:
ee1_dist = self.eev1 > self.settings._EE_THRESH11
if ee1_dist:
distracted_types.append(DistractedType.DISTRACTED_E2E)
return distracted_types
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
rhd_pred = driver_state.wheelOnRightProb
# calibrates only when there's movement and either face detected
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
@@ -270,9 +270,9 @@ class DriverStatus:
self.pose.yaw_std = driver_data.faceOrientationStd[1]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.eev1 = driver_data.notReadyProb[0]
self.eev2 = driver_data.readyProb[0]
@@ -291,7 +291,7 @@ class DriverStatus:
self.ee1_offseter.push_and_update(self.eev1)
self.ee2_offseter.push_and_update(self.eev2)
self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
@@ -303,11 +303,18 @@ 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, wrong_gear, car_speed):
def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
self._reset_events()
# Block engaging after max number of distrations or when alert active
if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \
self.always_on and self.awareness <= self.threshold_prompt:
self.current_events.add(EventName.tooDistracted)
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):
(not always_on_valid and not op_engaged) or \
(always_on_valid and not op_engaged and self.awareness <= 0):
# always reset on disengage with normal mode; disengage resets only on red if always on
self._reset_awareness()
return
@@ -331,8 +338,8 @@ class DriverStatus:
_reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
_reaching_terminal = self.awareness - self.step_change <= 0
standstill_exemption = standstill and _reaching_audible
always_on_red_exemption = always_on_valid and not ctrl_active and _reaching_terminal
always_on_lowspeed_exemption = always_on_valid and not ctrl_active and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible
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
@@ -358,4 +365,52 @@ class DriverStatus:
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
if alert is not None:
events.add(alert)
self.current_events.add(alert)
def get_state_packet(self):
# build driverMonitoringState packet
dat = messaging.new_message('driverMonitoringState', valid=True)
dat.driverMonitoringState = {
"events": self.current_events.to_msg(),
"faceDetected": self.face_detected,
"isDistracted": self.driver_distracted,
"distractedType": sum(self.distracted_types),
"awarenessStatus": self.awareness,
"posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
"stepChange": self.step_change,
"awarenessActive": self.awareness_active,
"awarenessPassive": self.awareness_passive,
"isLowStd": self.pose.low_std,
"hiStdCount": self.hi_stds,
"isActiveMode": self.active_monitoring_mode,
"isRHD": self.wheel_on_right,
}
return dat
def run_step(self, sm):
# Set strictness
self._set_policy(
model_data=sm['modelV2'],
car_speed=sm['carState'].vEgo
)
# Parse data from dmonitoringmodeld
self._update_states(
driver_state=sm['driverStateV2'],
cal_rpy=sm['liveCalibration'].rpyCalib,
car_speed=sm['carState'].vEgo,
op_engaged=sm['controlsState'].enabled
)
# Update distraction events
self._update_events(
driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
op_engaged=sm['controlsState'].enabled,
standstill=sm['carState'].standstill,
wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
car_speed=sm['carState'].vEgo
)

15
selfdrive/monitoring/test_monitoring.py
View File

@@ -3,8 +3,7 @@ import numpy as np
from cereal import car, log
from openpilot.common.realtime import DT_DMON
from openpilot.selfdrive.controls.lib.events import Events
from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
EventName = car.CarEvent.EventName
dm_settings = DRIVER_MONITOR_SETTINGS()
@@ -51,21 +50,19 @@ always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON)
always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
# TODO: this only tests DriverStatus
class TestMonitoring:
def _run_seq(self, msgs, interaction, engaged, standstill):
DS = DriverStatus()
DM = DriverMonitoring()
events = []
for idx in range(len(msgs)):
e = Events()
DS.update_states(msgs[idx], [0, 0, 0], 0, engaged[idx])
DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx])
# 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], 0, 0)
events.append(e)
DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
events.append(DM.current_events)
assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
return events, DS
return events, DM
def _assert_no_events(self, events):
assert all(not len(e) for e in events)

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
da1b19b2d1d54412ac72f2e9645046d262f9c7ab
dbf5b05ff480145a79b5941e360d0698b70979cd