From 916448af25d61a9acf1d35356fafccdfc800c440 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 29 May 2020 12:00:29 -0700
Subject: [PATCH] break canError into two separate events

---
 cereal                           |  2 +-
 selfdrive/controls/controlsd.py  | 10 +++++++---
 selfdrive/controls/lib/events.py | 13 ++++++++-----
 3 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/cereal b/cereal
index c8be73d10..0adfc7e77 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c8be73d10c957bff769998588595107d62e9e738
+Subproject commit 0adfc7e77efbf1ebc21bf2629a85d165b319b23e
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c8ea55088..e3e502c1a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -117,6 +117,7 @@ class Controls:
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.can_error_counter = 0
+    self.consecutive_can_error_count = 0
     self.last_blinker_frame = 0
     self.saturated_count = 0
     self.events_prev = []
@@ -188,8 +189,13 @@ class Controls:
                                         LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
 
-    if self.can_rcv_error:
+    if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
       self.events.add(EventName.canError)
+      self.consecutive_can_error_count += 1
+    else:
+      self.consecutive_can_error_count = 0
+    if self.consecutive_can_error_count > 2 / DT_CTRL:
+      self.events.add(EventName.canErrorPersistent)
     if self.mismatch_counter >= 200:
       self.events.add(EventName.controlsMismatch)
     if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
@@ -210,8 +216,6 @@ class Controls:
       self.events.add(EventName.radarFault)
     if self.sm['plan'].radarCanError:
       self.events.add(EventName.radarCanError)
-    if not CS.canValid and self.sm.frame > 5 / DT_CTRL:
-        self.events.add(EventName.canError)
     if log.HealthData.FaultType.relayMalfunction in self.sm['health'].faults:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 5b2fdf6ad..bf2dcaf04 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -305,6 +305,14 @@ EVENTS = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
   },
 
+  EventName.canErrorPersistent: {
+    ET.PERMANENT: Alert(
+      "CAN Error: Check Connections",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+  },
+
   # ********** events only containing alerts that display while engaged **********
 
   EventName.vehicleModelInvalid: {
@@ -603,11 +611,6 @@ EVENTS = {
   EventName.canError: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
     ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
-    ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
   },
 
   EventName.steerUnavailable: {