From a51790da108da557fbaf8f17a187225efd8cb30a Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 29 May 2024 15:43:55 -0700
Subject: [PATCH] dmonitoringd: set invalid if missing dependence(s) (#32569)

* no step but still send

* no this

* update diff
old-commit-hash: a16fbdae3890b0e547f0113497ff8f713bd2b07b
---
 selfdrive/monitoring/dmonitoringd.py     | 8 +++++---
 selfdrive/monitoring/helpers.py          | 4 ++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index e572bf5bd9..80af7b71d0 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/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
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 347cb245d1..dfb35182b2 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/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,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4fec7453fc..0a9a54325a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dbf5b05ff480145a79b5941e360d0698b70979cd
\ No newline at end of file
+87aa5052e36d5cf83698b1eb6e50aef5c86df8ca
\ No newline at end of file