Move driver monitoring out of controls (#1642)

* move dmonitoring out of controls

* run monitoring unit tests in CI

.github/workflows/test.yaml

@@ -106,6 +106,7 @@ jobs:
                     $UNIT_TEST opendbc/can && \
                     $UNIT_TEST selfdrive/boardd && \
                     $UNIT_TEST selfdrive/controls && \
+                    $UNIT_TEST selfdrive/monitoring && \
                     $UNIT_TEST selfdrive/loggerd && \
                     $UNIT_TEST selfdrive/car && \
                     $UNIT_TEST selfdrive/locationd && \

release/files_common

@@ -204,13 +204,11 @@ selfdrive/controls/__init__.py
 selfdrive/controls/controlsd.py
 selfdrive/controls/plannerd.py
 selfdrive/controls/radard.py
-selfdrive/controls/dmonitoringd.py
 selfdrive/controls/lib/__init__.py
 selfdrive/controls/lib/alertmanager.py
 selfdrive/controls/lib/alerts_offroad.json
 selfdrive/controls/lib/events.py
 selfdrive/controls/lib/drive_helpers.py
-selfdrive/controls/lib/driver_monitor.py
 selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol_indi.py
 selfdrive/controls/lib/latcontrol_lqr.py
@@ -225,7 +223,6 @@ selfdrive/controls/lib/speed_smoother.py
 selfdrive/controls/lib/fcw.py
 selfdrive/controls/lib/long_mpc.py
 selfdrive/controls/lib/long_mpc_model.py
-selfdrive/controls/lib/driverview.py
 
 selfdrive/controls/lib/cluster/*
 
@@ -380,6 +377,10 @@ selfdrive/modeld/runners/snpemodel.h
 selfdrive/modeld/runners/runmodel.h
 selfdrive/modeld/runners/run.h
 
+selfdrive/monitoring/dmonitoringd.py
+selfdrive/monitoring/driver_monitor.py
+selfdrive/monitoring/driverview.py
+
 selfdrive/assets
 selfdrive/assets/fonts/*.ttf
 

selfdrive/manager.py

@@ -169,7 +169,7 @@ managed_processes = {
   "controlsd": "selfdrive.controls.controlsd",
   "plannerd": "selfdrive.controls.plannerd",
   "radard": "selfdrive.controls.radard",
-  "dmonitoringd": "selfdrive.controls.dmonitoringd",
+  "dmonitoringd": "selfdrive.monitoring.dmonitoringd",
   "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
   "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
   "logmessaged": "selfdrive.logmessaged",
@@ -189,7 +189,7 @@ managed_processes = {
   "updated": "selfdrive.updated",
   "dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
   "modeld": ("selfdrive/modeld", ["./modeld"]),
-  "driverview": "selfdrive.controls.lib.driverview",
+  "driverview": "selfdrive.monitoring.driverview",
 }
 
 daemon_processes = {

selfdrive/monitoring/dmonitoringd.py

@@ -5,7 +5,7 @@ from common.realtime import set_realtime_priority
 from common.params import Params
 import cereal.messaging as messaging
 from selfdrive.controls.lib.events import Events
-from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
+from selfdrive.monitoring.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
 from selfdrive.locationd.calibration_helpers import Calibration
 
 def dmonitoringd_thread(sm=None, pm=None):

selfdrive/monitoring/test_monitoring.py

@@ -5,7 +5,7 @@ import numpy as np
 from cereal import car
 from common.realtime import DT_DMON
 from selfdrive.controls.lib.events import Events
-from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, \
+from selfdrive.monitoring.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, \
                                   _AWARENESS_TIME, _AWARENESS_PRE_TIME_TILL_TERMINAL, \
                                   _AWARENESS_PROMPT_TIME_TILL_TERMINAL, _DISTRACTED_TIME, \
                                   _DISTRACTED_PRE_TIME_TILL_TERMINAL, _DISTRACTED_PROMPT_TIME_TILL_TERMINAL, \