225 lines
15 KiB
Python
225 lines
15 KiB
Python
import unittest
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import numpy as np
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from cereal import car
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from common.realtime import DT_DMON
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from selfdrive.controls.lib.events import Events
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from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, \
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_AWARENESS_TIME, _AWARENESS_PRE_TIME_TILL_TERMINAL, \
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_AWARENESS_PROMPT_TIME_TILL_TERMINAL, _DISTRACTED_TIME, \
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_DISTRACTED_PRE_TIME_TILL_TERMINAL, _DISTRACTED_PROMPT_TIME_TILL_TERMINAL, \
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_POSESTD_THRESHOLD, _HI_STD_TIMEOUT
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EventName = car.CarEvent.EventName
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_TEST_TIMESPAN = 120 # seconds
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_DISTRACTED_SECONDS_TO_ORANGE = _DISTRACTED_TIME - _DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
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_DISTRACTED_SECONDS_TO_RED = _DISTRACTED_TIME + 1
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_INVISIBLE_SECONDS_TO_ORANGE = _AWARENESS_TIME - _AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
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_INVISIBLE_SECONDS_TO_RED = _AWARENESS_TIME + 1
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_UNCERTAIN_SECONDS_TO_GREEN = _HI_STD_TIMEOUT + 0.5
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class fake_DM_msg():
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def __init__(self, is_face_detected, is_distracted=False, is_model_uncertain=False):
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self.faceOrientation = [0.,0.,0.]
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self.facePosition = [0.,0.]
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self.faceProb = 1. * is_face_detected
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self.leftEyeProb = 1.
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self.rightEyeProb = 1.
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self.leftBlinkProb = 1. * is_distracted
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self.rightBlinkProb = 1. * is_distracted
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self.faceOrientationStd = [1.*is_model_uncertain,1.*is_model_uncertain,1.*is_model_uncertain]
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self.facePositionStd = [1.*is_model_uncertain,1.*is_model_uncertain]
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# driver state from neural net, 10Hz
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msg_NO_FACE_DETECTED = fake_DM_msg(is_face_detected=False)
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msg_ATTENTIVE = fake_DM_msg(is_face_detected=True)
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msg_DISTRACTED = fake_DM_msg(is_face_detected=True, is_distracted=True)
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msg_ATTENTIVE_UNCERTAIN = fake_DM_msg(is_face_detected=True, is_model_uncertain=True)
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msg_DISTRACTED_UNCERTAIN = fake_DM_msg(is_face_detected=True, is_distracted=True, is_model_uncertain=True)
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msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = fake_DM_msg(is_face_detected=True, is_distracted=True, is_model_uncertain=_POSESTD_THRESHOLD*1.5)
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# driver interaction with car
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car_interaction_DETECTED = True
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car_interaction_NOT_DETECTED = False
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# openpilot state
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openpilot_ENGAGED = True
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openpilot_NOT_ENGAGED = False
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# car standstill state
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car_STANDSTILL = True
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car_NOT_STANDSTILL = False
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# some common state vectors
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always_no_face = [msg_NO_FACE_DETECTED] * int(_TEST_TIMESPAN/DT_DMON)
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always_attentive = [msg_ATTENTIVE] * int(_TEST_TIMESPAN/DT_DMON)
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always_distracted = [msg_DISTRACTED] * int(_TEST_TIMESPAN/DT_DMON)
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always_true = [True] * int(_TEST_TIMESPAN/DT_DMON)
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always_false = [False] * int(_TEST_TIMESPAN/DT_DMON)
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def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status, car_standstill_status):
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# inputs are all 10Hz
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DS = DriverStatus()
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events_from_DM = []
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for idx in range(len(driver_state_msgs)):
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e = Events()
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DS.get_pose(driver_state_msgs[idx], [0,0,0], 0, openpilot_status[idx])
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# cal_rpy and car_speed don't matter here
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# evaluate events at 10Hz for tests
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DS.update(e, driver_car_interaction[idx], openpilot_status[idx], car_standstill_status[idx])
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events_from_DM.append(e)
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assert len(events_from_DM) == len(driver_state_msgs), 'somethings wrong'
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return events_from_DM, DS
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class TestMonitoring(unittest.TestCase):
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# 0. op engaged, driver is doing fine all the time
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def test_fully_aware_driver(self):
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events_output = run_DState_seq(always_attentive, always_false, always_true, always_false)[0]
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self.assertTrue(np.sum([len(event) for event in events_output])==0)
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# 1. op engaged, driver is distracted and does nothing
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def test_fully_distracted_driver(self):
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events_output, d_status = run_DState_seq(always_distracted, always_false, always_true, always_false)
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self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
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self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+\
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((_DISTRACTED_PRE_TIME_TILL_TERMINAL-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
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self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL+\
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((_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
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self.assertEqual(events_output[int((_DISTRACTED_TIME+\
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((_TEST_TIMESPAN-10-_DISTRACTED_TIME)/2))/DT_DMON)].names[0], EventName.driverDistracted)
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self.assertIs(type(d_status.awareness), float)
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# 2. op engaged, no face detected the whole time, no action
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def test_fully_invisible_driver(self):
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events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)[0]
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self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
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self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL+\
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((_AWARENESS_PRE_TIME_TILL_TERMINAL-_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
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self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PROMPT_TIME_TILL_TERMINAL+\
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((_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
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self.assertEqual(events_output[int((_AWARENESS_TIME+\
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((_TEST_TIMESPAN-10-_AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive)
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# 3. op engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
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# - should have short orange recovery time and no green afterwards; should recover rightaway on wheel touch
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def test_normal_driver(self):
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ds_vector = [msg_DISTRACTED] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
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[msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
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[msg_DISTRACTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON))
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interaction_vector = [car_interaction_NOT_DETECTED] * int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
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[car_interaction_DETECTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
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events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
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self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
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self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
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self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)])==0)
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self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
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self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)])==0)
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# 4. op engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
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# driver dodges, and then touches wheel to no avail, disengages and reengages
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# - orange/red alert should remain after disappearance, and only disengaging clears red
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def test_biggest_comma_fan(self):
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_invisible_time = 2 # seconds
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ds_vector = always_distracted[:]
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interaction_vector = always_false[:]
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op_vector = always_true[:]
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ds_vector[int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((_DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
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ds_vector[int((_DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
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interaction_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
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op_vector[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
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events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0]
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self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
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self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
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self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0], EventName.driverDistracted)
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self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)])==0)
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# 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
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# - both actions should clear the alert, but momentary appearence should not
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def test_sometimes_transparent_commuter(self):
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_visible_time = np.random.choice([1,10]) # seconds
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# print _visible_time
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ds_vector = always_no_face[:]*2
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interaction_vector = always_false[:]*2
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ds_vector[int((2*_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*_INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
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interaction_vector[int((_INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
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events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)[0]
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self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
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self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)])==0)
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if _visible_time == 1:
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive)
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elif _visible_time == 10:
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
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self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)])==0)
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else:
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pass
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# 6. op engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
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# - only disengage will clear the alert
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def test_last_second_responder(self):
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_visible_time = 2 # seconds
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ds_vector = always_no_face[:]
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interaction_vector = always_false[:]
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op_vector = always_true[:]
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ds_vector[int(_INVISIBLE_SECONDS_TO_RED/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
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interaction_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
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op_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
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events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0]
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self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0], EventName.driverUnresponsive)
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0], EventName.driverUnresponsive)
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self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0], EventName.driverUnresponsive)
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self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)])==0)
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# 7. op not engaged, always distracted driver
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# - dm should stay quiet when not engaged
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def test_pure_dashcam_user(self):
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events_output = run_DState_seq(always_distracted, always_false, always_false, always_false)[0]
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self.assertTrue(np.sum([len(event) for event in events_output])==0)
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# 8. op engaged, car stops at traffic light, down to orange, no action, then car starts moving
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# - should only reach green when stopped, but continues counting down on launch
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def test_long_traffic_light_victim(self):
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_redlight_time = 60 # seconds
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standstill_vector = always_true[:]
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standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((_TEST_TIMESPAN-_redlight_time)/DT_DMON)
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events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector)[0]
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self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted)
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self.assertEqual(events_output[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
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self.assertEqual(events_output[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
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# 9. op engaged, model is extremely uncertain. driver first attentive, then distracted
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# - should only pop the green alert about model uncertainty
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# - (note: this's just for sanity check, std output should never be this high)
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def test_one_indecisive_model(self):
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ds_vector = [msg_ATTENTIVE_UNCERTAIN] * int(_UNCERTAIN_SECONDS_TO_GREEN/DT_DMON) + \
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[msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
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[msg_DISTRACTED_UNCERTAIN] * (int(_TEST_TIMESPAN/DT_DMON)-int((_DISTRACTED_SECONDS_TO_ORANGE+_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON))
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interaction_vector = always_false[:]
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events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
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self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
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self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN-0.1)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
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self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)])==0)
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self.assertEqual(events_output[int((_TEST_TIMESPAN-5.)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
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# 10. op engaged, model is somehow uncertain and driver is distracted
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# - should slow down the alert countdown but it still gets there
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def test_somehow_indecisive_model(self):
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ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(_TEST_TIMESPAN/DT_DMON)
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interaction_vector = always_false[:]
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events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
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self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
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self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
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self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.preDriverDistracted)
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self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.promptDriverDistracted)
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self.assertEqual(events_output[int((_DISTRACTED_TIME+1)/DT_DMON)].names[1], EventName.promptDriverDistracted)
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self.assertEqual(events_output[int((_DISTRACTED_TIME*2.5)/DT_DMON)].names[1], EventName.promptDriverDistracted) # set_timer blocked
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if __name__ == "__main__":
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print('MAX_TERMINAL_ALERTS', MAX_TERMINAL_ALERTS)
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unittest.main()
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