IQ.Pilot Release Commit @ 36625eb

selfdrive/test/process_replay/migration.py

@@ -455,46 +455,21 @@ def migrate_onroadEvents(msgs):
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringStateDEPRECATED"])
+@migration(inputs=["driverMonitoringState"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    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 = 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()
 
-    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()))
+    msg.driverMonitoringState.events = events
+    ops.append((index, msg.as_reader()))
 
   return ops, [], []