dmonitoringd: narrow update_states gate to fix stuck face_detected

Original gate was sm.all_checks() which required modelV2 fresh and
liveCalibration.valid. Both fail spuriously in our setup:
- modelV2 stops at standstill/parked (two-state modeld)
- calibrationd propagates its own freq_ok glitches into liveCalibration.valid

Either condition froze DM pose updates — face_detected stuck False →
maybe_distracted True → awareness decayed to 0 within ~6s of engagement
("TAKE OVER" driver-distraction alert the moment controlsd engaged).

Narrow the gate to only the subs update_states actually consumes
(driverStateV2, carState, controlsState, liveCalibration), check only
alive+valid (skip freq_ok), and skip liveCalibration.valid — rpyCalib
presence is sufficient proof that calibration has produced output.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

selfdrive/monitoring/dmonitoringd.py

@@ -44,7 +44,18 @@ def dmonitoringd_thread():
     # Get data from dmonitoringmodeld
     events = Events()
 
-    if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
+    # CLEARPILOT: narrow update_states gate. The original sm.all_checks() also
+    # required modelV2 fresh (stops at standstill in two-state modeld) and
+    # liveCalibration.valid (calibrationd cascades its own freq_ok to valid, which
+    # flaps). Both made DM freeze pose → face_detected stuck False → awareness
+    # decayed to 0 within 6s of engagement. Narrow the gate to the subs
+    # update_states actually reads, and only to alive+valid (skip freq_ok and
+    # skip liveCalibration.valid). rpyCalib presence is sufficient to know
+    # calibration has produced output.
+    if (sm.alive['driverStateV2'] and sm.valid['driverStateV2'] and
+        sm.alive['carState'] and sm.valid['carState'] and
+        sm.alive['controlsState'] and sm.valid['controlsState'] and
+        sm.alive['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) > 0):
       driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations