dmonitoringd: set invalid if missing dependence(s) (#32569)

* no step but still send

* no this

* update diff

selfdrive/monitoring/dmonitoringd.py

@@ -20,14 +20,16 @@ def dmonitoringd_thread():
   # 20Hz <- dmonitoringmodeld
   while True:
     sm.update()
-    if (not sm.updated['driverStateV2']) or (not sm.all_checks()):
+    if not sm.updated['driverStateV2']:
       # iterate when model has new output
       continue
 
-    DM.run_step(sm)
+    valid = sm.all_checks()
+    if valid:
+      DM.run_step(sm)
 
     # publish
-    dat = DM.get_state_packet()
+    dat = DM.get_state_packet(valid=valid)
     pm.send('driverMonitoringState', dat)
 
     # load live always-on toggle

selfdrive/monitoring/helpers.py

@@ -368,9 +368,9 @@ class DriverMonitoring:
       self.current_events.add(alert)
 
 
-  def get_state_packet(self):
+  def get_state_packet(self, valid=True):
     # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState', valid=True)
+    dat = messaging.new_message('driverMonitoringState', valid=valid)
     dat.driverMonitoringState = {
       "events": self.current_events.to_msg(),
       "faceDetected": self.face_detected,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-dbf5b05ff480145a79b5941e360d0698b70979cd
+87aa5052e36d5cf83698b1eb6e50aef5c86df8ca