use enabled flag from controlsState instead of carState (#2518)

* use enabled from controls instead of carstate

* update process replay

* rm

* fix long test

* update reff

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/monitoring/dmonitoringd.py

@@ -12,7 +12,7 @@ def dmonitoringd_thread(sm=None, pm=None):
     pm = messaging.PubMaster(['dMonitoringState'])
 
   if sm is None:
-    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model'], poll=['driverState'])
+    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'model'], poll=['driverState'])
 
   driver_status = DriverStatus()
   driver_status.is_rhd_region = Params().get("IsRHD") == b"1"
@@ -22,7 +22,6 @@ def dmonitoringd_thread(sm=None, pm=None):
   sm['liveCalibration'].calStatus = Calibration.INVALID
   sm['liveCalibration'].rpyCalib = [0, 0, 0]
   sm['carState'].vEgo = 0.
-  sm['carState'].cruiseState.enabled = False
   sm['carState'].cruiseState.speed = 0.
   sm['carState'].buttonEvents = []
   sm['carState'].steeringPressed = False
@@ -47,7 +46,7 @@ def dmonitoringd_thread(sm=None, pm=None):
                         sm['carState'].steeringPressed or \
                         sm['carState'].gasPressed
       if driver_engaged:
-        driver_status.update(Events(), True, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
+        driver_status.update(Events(), True, sm['controlsState'].enabled, sm['carState'].standstill)
       v_cruise_last = v_cruise
 
     if sm.updated['model']:
@@ -55,14 +54,14 @@ def dmonitoringd_thread(sm=None, pm=None):
 
     # Get data from dmonitoringmodeld
     events = Events()
-    driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)
+    driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations
     if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
       events.add(car.CarEvent.EventName.tooDistracted)
 
     # Update events from driver state
-    driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
+    driver_status.update(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
 
     # build dMonitoringState packet
     dat = messaging.new_message('dMonitoringState')

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -118,7 +118,7 @@ class Plant():
       Plant.live_location_kalman = messaging.pub_sock('liveLocationKalman')
       Plant.health = messaging.pub_sock('health')
       Plant.thermal = messaging.pub_sock('thermal')
-      Plant.driverState = messaging.pub_sock('driverState')
+      Plant.dMonitoringState = messaging.pub_sock('dMonitoringState')
       Plant.cal = messaging.pub_sock('liveCalibration')
       Plant.controls_state = messaging.sub_sock('controlsState')
       Plant.plan = messaging.sub_sock('plan')
@@ -370,10 +370,9 @@ class Plant():
     live_parameters.liveParameters.stiffnessFactor = 1.0
     Plant.live_params.send(live_parameters.to_bytes())
 
-    driver_state = messaging.new_message('driverState')
+    dmon_state = messaging.new_message('dMonitoringState')
-    driver_state.driverState.faceOrientation = [0.] * 3
+    dmon_state.dMonitoringState.isDistracted = False
-    driver_state.driverState.facePosition = [0.] * 2
+    Plant.dMonitoringState.send(dmon_state.to_bytes())
-    Plant.driverState.send(driver_state.to_bytes())
 
     health = messaging.new_message('health')
     health.health.safetyModel = car.CarParams.SafetyModel.hondaNidec

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -339,7 +339,6 @@ class LongitudinalControl(unittest.TestCase):
     manager.prepare_managed_process('radard')
     manager.prepare_managed_process('controlsd')
     manager.prepare_managed_process('plannerd')
-    manager.prepare_managed_process('dmonitoringd')
 
   @classmethod
   def tearDownClass(cls):
@@ -362,7 +361,6 @@ def run_maneuver_worker(k):
       manager.start_managed_process('radard')
       manager.start_managed_process('controlsd')
       manager.start_managed_process('plannerd')
-      manager.start_managed_process('dmonitoringd')
 
       plot, valid = man.evaluate()
       plot.write_plot(output_dir, "maneuver" + str(k + 1).zfill(2))
@@ -370,7 +368,6 @@ def run_maneuver_worker(k):
       manager.kill_managed_process('radard')
       manager.kill_managed_process('controlsd')
       manager.kill_managed_process('plannerd')
-      manager.kill_managed_process('dmonitoringd')
 
       if valid:
         break

selfdrive/test/process_replay/process_replay.py

@@ -266,7 +266,7 @@ CONFIGS = [
     proc_name="dmonitoringd",
     pub_sub={
       "driverState": ["dMonitoringState"],
-      "liveCalibration": [], "carState": [], "model": [], "gpsLocation": [],
+      "liveCalibration": [], "carState": [], "model": [], "controlsState": [],
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-7dde5eab03feb7e0801fe24e9fea0f3629987571
+aeb870b1d4f523506570f66e76dde0b036c58f40