fix rhd behavior during preview/onboarding (#36657)

* rhd learning not required for demo

* fix switching and saving

---------

Co-authored-by: Comma Device <[email protected]>

Author: ZwX1616

selfdrive/monitoring/dmonitoringd.py

@@ -38,7 +38,7 @@ def dmonitoringd_thread():
       demo_mode = params.get_bool("IsDriverViewEnabled")
 
     # save rhd virtual toggle every 5 mins
-    if (sm['driverStateV2'].frameId % 6000 == 0 and
+    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
      DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
      DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)

selfdrive/monitoring/helpers.py

@@ -251,18 +251,18 @@ def _get_distracted_types(self):
 
     return distracted_types
 
-  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill):
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
     rhd_pred = driver_state.wheelOnRightProb
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
       self.wheelpos_learner.push_and_update(rhd_pred)
-    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
+    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
       self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
-    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right:
+    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
       self.wheel_on_right = self.wheel_on_right_last
     driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
@@ -448,6 +448,7 @@ def run_step(self, sm, demo=False):
       car_speed=highway_speed,
       op_engaged=enabled,
       standstill=standstill,
+      demo_mode=demo,
     )
 
     # Update distraction events