IQ.Pilot Release Commit @ f82ff4d

selfdrive/test/process_replay/migration.py

@@ -6,11 +6,11 @@ import functools
 import traceback
 
 from cereal import messaging, car, log
-from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
-from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
-from opendbc.car.hyundai.values import HyundaiSafetyFlags
-from opendbc.car.gm.values import GMSafetyFlags
+from iqdbc.car.fingerprints import MIGRATION
+from iqdbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
+from iqdbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
+from iqdbc.car.hyundai.values import HyundaiSafetyFlags
+from iqdbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -455,21 +455,46 @@ def migrate_onroadEvents(msgs):
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringState"])
+@migration(inputs=["driverMonitoringStateDEPRECATED"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    msg = msg.as_builder()
-    events = []
-    for event in msg.driverMonitoringState.eventsDEPRECATED:
-      try:
-        if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          events.append(log.OnroadEvent(**event.to_dict()))
-      except RuntimeError:  # Member was null
-        traceback.print_exc()
+    old = msg.driverMonitoringStateDEPRECATED
+    new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    dm = new_msg.driverMonitoringState
+    dm.isRHD = old.isRHD
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
+                          log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
-    msg.driverMonitoringState.events = events
-    ops.append((index, msg.as_reader()))
+    AlertLevel = log.DriverMonitoringState.AlertLevel
+    event_to_alert_level = {
+      'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
+      'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
+      'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
+    }
+    for event in old.events:
+      level = event_to_alert_level.get(str(event.name))
+      if level is not None:
+        dm.alertLevel = level
+        break
+    dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
+
+    dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
+    dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
+    dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
+    dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
+    dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
+    dm.visionPolicyState.faceDetected = old.faceDetected
+    dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
+    dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
+    dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
+    dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
+    dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
+    ops.append((index, new_msg.as_reader()))
 
   return ops, [], []

selfdrive/test/process_replay/process_replay.py

@@ -17,8 +17,8 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
-from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import get_car, interfaces
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout

selfdrive/test/process_replay/test_fuzzy.py

@@ -5,7 +5,7 @@ import hypothesis.strategies as st
 from parameterized import parameterized
 
 from cereal import log
-from opendbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 import openpilot.selfdrive.test.process_replay.process_replay as pr
 

selfdrive/test/process_replay/test_processes.py

@@ -7,7 +7,7 @@ from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
 
-from opendbc.car.car_helpers import interface_names
+from iqdbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url, upload_file
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff