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Merge pull request #960 from ZwX1616/patch-1 

not to change awareness to npfloat64
pull/965/head
Willem Melching 2020-01-17 14:20:14 -08:00 committed by GitHub
parent dfded79673 12f72fb8e2
commit f3c1992b10
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2 changed files with 14 additions and 13 deletions
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2
selfdrive/controls/lib/driver_monitor.py
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@ -176,7 +176,7 @@ class DriverStatus():
self.pose.pitch_std = driver_monitoring.faceOrientationStd[0]
self.pose.yaw_std = driver_monitoring.faceOrientationStd[1]
# self.pose.roll_std = driver_monitoring.faceOrientationStd[2]
max_std = np.max([self.pose.pitch_std, self.pose.yaw_std])
max_std = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = max_std < _POSESTD_THRESHOLD
self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)

25
selfdrive/controls/tests/test_monitoring.py
View File

@ -69,7 +69,7 @@ def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status,
events_from_DM.append(event_per_state) # evaluate events at 10Hz for tests
assert len(events_from_DM)==len(driver_state_msgs), 'somethings wrong'
return events_from_DM
return events_from_DM, DS
class TestMonitoring(unittest.TestCase):
# -1. rhd parser sanity check
@ -87,12 +87,12 @@ class TestMonitoring(unittest.TestCase):
# 0. op engaged, driver is doing fine all the time
def test_fully_aware_driver(self):
events_output = run_DState_seq(always_attentive, always_false, always_true, always_false)
events_output = run_DState_seq(always_attentive, always_false, always_true, always_false)[0]
self.assertTrue(np.sum([len(event) for event in events_output])==0)
# 1. op engaged, driver is distracted and does nothing
def test_fully_distracted_driver(self):
events_output = run_DState_seq(always_distracted, always_false, always_true, always_false)
events_output, d_status = run_DState_seq(always_distracted, always_false, always_true, always_false)
self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+\
((_DISTRACTED_PRE_TIME_TILL_TERMINAL-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverDistracted')
@ -100,10 +100,11 @@ class TestMonitoring(unittest.TestCase):
((_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'promptDriverDistracted')
self.assertEqual(events_output[int((_DISTRACTED_TIME+\
((_TEST_TIMESPAN-10-_DISTRACTED_TIME)/2))/DT_DMON)][0].name, 'driverDistracted')
self.assertIs(type(d_status.awareness), float)
# 2. op engaged, no face detected the whole time, no action
def test_fully_invisible_driver(self):
events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)
events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)[0]
self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL+\
((_AWARENESS_PRE_TIME_TILL_TERMINAL-_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)][0].name, 'preDriverUnresponsive')
@ -120,7 +121,7 @@ class TestMonitoring(unittest.TestCase):
[msg_DISTRACTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON))
interaction_vector = [car_interaction_NOT_DETECTED] * int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
[car_interaction_DETECTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)][0].name, 'promptDriverDistracted')
self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)])==0)
@ -139,7 +140,7 @@ class TestMonitoring(unittest.TestCase):
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)
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)
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)
events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)
events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0]
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)][0].name, 'promptDriverDistracted')
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)][0].name, 'driverDistracted')
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)][0].name, 'driverDistracted')
@ -154,7 +155,7 @@ class TestMonitoring(unittest.TestCase):
interaction_vector = always_false[:]*2
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)
interaction_vector[int((_INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)[0]
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)][0].name, 'promptDriverUnresponsive')
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)])==0)
@ -177,7 +178,7 @@ class TestMonitoring(unittest.TestCase):
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)
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)
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)
events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)
events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0]
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)][0].name, 'promptDriverUnresponsive')
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)][0].name, 'driverUnresponsive')
@ -188,7 +189,7 @@ class TestMonitoring(unittest.TestCase):
# 7. op not engaged, always distracted driver
# - dm should stay quiet when not engaged
def test_pure_dashcam_user(self):
events_output = run_DState_seq(always_distracted, always_false, always_false, always_false)
events_output = run_DState_seq(always_distracted, always_false, always_false, always_false)[0]
self.assertTrue(np.sum([len(event) for event in events_output])==0)
# 8. op engaged, car stops at traffic light, down to orange, no action, then car starts moving
@ -197,7 +198,7 @@ class TestMonitoring(unittest.TestCase):
_redlight_time = 60 # seconds
standstill_vector = always_true[:]
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((_TEST_TIMESPAN-_redlight_time)/DT_DMON)
events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector)
events_output = run_DState_seq(always_distracted, always_false, always_true, standstill_vector)[0]
self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)][0].name, 'preDriverDistracted')
self.assertEqual(events_output[int((_redlight_time-0.1)/DT_DMON)][0].name, 'preDriverDistracted')
self.assertEqual(events_output[int((_redlight_time+0.5)/DT_DMON)][0].name, 'promptDriverDistracted')
@ -210,7 +211,7 @@ class TestMonitoring(unittest.TestCase):
[msg_ATTENTIVE] * int(_DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
[msg_DISTRACTED_UNCERTAIN] * (int(_TEST_TIMESPAN/DT_DMON)-int((_DISTRACTED_SECONDS_TO_ORANGE+_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON))
interaction_vector = always_false[:]
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN-0.1)/DT_DMON)][0].name, 'driverMonitorLowAcc')
self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)])==0)
@ -221,7 +222,7 @@ class TestMonitoring(unittest.TestCase):
def test_somehow_indecisive_model(self):
ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(_TEST_TIMESPAN/DT_DMON)
interaction_vector = always_false[:]
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)][0].name, 'driverMonitorLowAcc')
self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)][1].name, 'preDriverDistracted')