Toggle to always enable DM (#32205)

* permanent

* param

* correct behavior

* toggle

* need trans

* ref_commit

* translate for chs/t

* disable on P and R

* read
old-commit-hash: 1d05704d27dbe4f73c0eba7e8dad2ae84d4e205e

selfdrive/monitoring/dmonitoringd.py

@@ -17,7 +17,7 @@ def dmonitoringd_thread():
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
 
-  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))
+  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
   v_cruise_last = 0
   driver_engaged = False
@@ -52,7 +52,8 @@ def dmonitoringd_thread():
       events.add(car.CarEvent.EventName.tooDistracted)
 
     # Update events from driver state
-    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
+    driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled,
+      sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park])
 
     # build driverMonitoringState packet
     dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
@@ -76,6 +77,9 @@ def dmonitoringd_thread():
     }
     pm.send('driverMonitoringState', dat)
 
+    if sm['driverStateV2'].frameId % 40 == 1:
+      driver_status.always_on = params.get_bool("AlwaysOnDM")
+
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and
      driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and