From d4858e5ff5753f8a800f3e90cb4c0f69213b87f3 Mon Sep 17 00:00:00 2001
From: Adeeb <8762862+adeebshihadeh@users.noreply.github.com>
Date: Tue, 9 Jun 2020 13:25:15 -0700
Subject: [PATCH] Move driver monitoring out of controls (#1642)

* move dmonitoring out of controls

* run monitoring unit tests in CI
---
 .github/workflows/test.yaml                                | 1 +
 release/files_common                                       | 7 ++++---
 selfdrive/manager.py                                       | 4 ++--
 selfdrive/{controls => monitoring}/dmonitoringd.py         | 2 +-
 selfdrive/{controls/lib => monitoring}/driver_monitor.py   | 0
 selfdrive/{controls/lib => monitoring}/driverview.py       | 0
 .../{controls/tests => monitoring}/test_monitoring.py      | 2 +-
 7 files changed, 9 insertions(+), 7 deletions(-)
 rename selfdrive/{controls => monitoring}/dmonitoringd.py (97%)
 rename selfdrive/{controls/lib => monitoring}/driver_monitor.py (100%)
 rename selfdrive/{controls/lib => monitoring}/driverview.py (100%)
 rename selfdrive/{controls/tests => monitoring}/test_monitoring.py (99%)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index d2b04ef1a..b6d422c9f 100644
--- a/.github/workflows/test.yaml
+++ b/.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 && \
diff --git a/release/files_common b/release/files_common
index 1bd492977..26ca00915 100644
--- a/release/files_common
+++ b/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
 
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index a92d2e063..ed8b6a9f2 100755
--- a/selfdrive/manager.py
+++ b/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 = {
diff --git a/selfdrive/controls/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
similarity index 97%
rename from selfdrive/controls/dmonitoringd.py
rename to selfdrive/monitoring/dmonitoringd.py
index 2a21e920f..4939d604d 100755
--- a/selfdrive/controls/dmonitoringd.py
+++ b/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):
diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
similarity index 100%
rename from selfdrive/controls/lib/driver_monitor.py
rename to selfdrive/monitoring/driver_monitor.py
diff --git a/selfdrive/controls/lib/driverview.py b/selfdrive/monitoring/driverview.py
similarity index 100%
rename from selfdrive/controls/lib/driverview.py
rename to selfdrive/monitoring/driverview.py
diff --git a/selfdrive/controls/tests/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
similarity index 99%
rename from selfdrive/controls/tests/test_monitoring.py
rename to selfdrive/monitoring/test_monitoring.py
index b653555f6..a741115ca 100644
--- a/selfdrive/controls/tests/test_monitoring.py
+++ b/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, \