dcam: detect and ignore errors for unofficial devices (commaai#237)

* dcam: detect and ignore errors for unofficial devices

* must be a registered device

common/params.cc

@@ -298,6 +298,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TrueVEgoUi", PERSISTENT},
     {"TurnSpeedControl", PERSISTENT},
     {"TurnVisionControl", PERSISTENT},
+    {"DriverCameraHardwareMissing", PERSISTENT},
     {"VisionCurveLaneless", PERSISTENT},
     {"VwAccType", PERSISTENT},
     {"Offroad_SupersededUpdate", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -14,6 +14,7 @@
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
 from system.version import is_release_branch, get_short_branch
+from selfdrive.athena.registration import is_registered_device
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
@@ -78,11 +79,19 @@ def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
     self.log_sock = messaging.sub_sock('androidLog')
 
     self.params = Params()
+
+    self.d_camera_hardware_missing = self.params.get_bool("DriverCameraHardwareMissing") and not is_registered_device()
+    if self.d_camera_hardware_missing:
+      IGNORE_PROCESSES.update({"dmonitoringd", "dmonitoringmodeld"})
+      self.camera_packets.remove("driverCameraState")
+
     self.sm = sm
     if self.sm is None:
       ignore = ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
+      if self.d_camera_hardware_missing:
+        ignore += ['driverMonitoringState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
@@ -276,7 +285,8 @@ def update_events(self, CS):
       self.events.add(EventName.gasPressedOverride)
 
     if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      if not self.d_camera_hardware_missing:
+        self.events.add_from_msg(self.sm['driverMonitoringState'].events)
       self.events.add_from_msg(self.sm['longitudinalPlan'].eventsDEPRECATED)
 
     # Add car events, ignore if CAN isn't valid
@@ -372,6 +382,9 @@ def update_events(self, CS):
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):
           self.events.add(EventName.cameraMalfunction)
+          if not self.sm.all_alive(['driverCameraState']) and not self.d_camera_hardware_missing:
+            self.d_camera_hardware_missing = True
+            put_bool_nonblocking("DriverCameraHardwareMissing", True)
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
       self.process_not_running = False

selfdrive/manager/manager.py

@@ -18,7 +18,7 @@
 from selfdrive.manager.helpers import unblock_stdout, write_onroad_params
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID, is_registered_device
 from system.swaglog import cloudlog, add_file_handler
 from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                            get_normalized_origin, terms_version, training_version, \
@@ -204,6 +204,8 @@ def manager_thread() -> None:
   if os.getenv("NOBOARD") is not None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
+  if params.get("DriverCameraHardwareMissing") and not is_registered_device():
+    ignore += ["dmonitoringd", "dmonitoringmodeld"]
 
   sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
   pm = messaging.PubMaster(['managerState'])