Revert fullframe DM model (#24812)

* Revert "fullframe DM: flip RHD yaw to use matching thresholds"

This reverts commit ce7daabc8847d18ba46e5d1879f5a6958d04ccc7.

* Revert "fullframe DM model (#24762)"

This reverts commit 817be81fb19004f4873881f6b29dcdfffbe7e3a8.

* revert cereal
old-commit-hash: c646eeee0ac54925db5afc51b95c5d869d6dba68

selfdrive/test/process_replay/model_replay.py

@@ -52,7 +52,7 @@ def model_replay(lr, frs):
   vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
   vipc_server.start_listener()
 
-  sm = messaging.SubMaster(['modelV2', 'driverStateV2'])
+  sm = messaging.SubMaster(['modelV2', 'driverState'])
   pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
 
   try:
@@ -112,7 +112,7 @@ def model_replay(lr, frs):
             if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
               recv = "modelV2"
           elif msg.which() == 'driverCameraState':
-            recv = "driverStateV2"
+            recv = "driverState"
 
           # wait for a response
           with Timeout(15, f"timed out waiting for {recv}"):
@@ -170,8 +170,8 @@ if __name__ == "__main__":
         'logMonoTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
-        'driverStateV2.modelExecutionTime',
-        'driverStateV2.dspExecutionTime'
+        'driverState.modelExecutionTime',
+        'driverState.dspExecutionTime'
       ]
       # TODO this tolerence is absurdly large
       tolerance = 5e-1 if PC else None

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-1d0979ca59dbc89bc5890656e9501e83f0556d50
+f74ab97371be93fdc28333e5ea12bbb78c3a32d0

selfdrive/test/process_replay/process_replay.py

@@ -293,7 +293,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="dmonitoringd",
     pub_sub={
-      "driverStateV2": ["driverMonitoringState"],
+      "driverState": ["driverMonitoringState"],
       "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
     },
     ignore=["logMonoTime", "valid"],

selfdrive/test/test_onroad.py

@@ -33,7 +33,7 @@ PROCS = {
   "selfdrive.controls.radard": 4.5,
   "./_modeld": 4.48,
   "./boardd": 3.63,
-  "./_dmonitoringmodeld": 5.0,
+  "./_dmonitoringmodeld": 10.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "./_soundd": 1.0,
@@ -60,7 +60,7 @@ TIMINGS = {
   "roadCameraState": [2.5, 0.35],
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
-  "driverStateV2": [2.5, 0.40],
+  "driverState": [2.5, 0.40],
   "liveLocationKalman": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
@@ -221,7 +221,7 @@ class TestOnroad(unittest.TestCase):
     # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
       ("modelV2", 0.050, 0.036),
-      ("driverStateV2", 0.050, 0.026),
+      ("driverState", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]