Show relay malfunction alert (#1373)

* show relay malfunction alert

* Remove empty line

* Also immediate disengage

* Forgot noEntry

* Fix name

selfdrive/controls/controlsd.py

@@ -570,6 +570,9 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       events.append(create_event('communityFeatureDisallowed', [ET.PERMANENT]))
     if read_only and not passive:
       events.append(create_event('carUnrecognized', [ET.PERMANENT]))
+    if log.HealthData.FaultType.relayMalfunction in sm['health'].faults:
+      events.append(create_event('relayMalfunction', [ET.NO_ENTRY, ET.PERMANENT, ET.IMMEDIATE_DISABLE]))
+
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:

selfdrive/controls/lib/alerts.py

@@ -503,6 +503,13 @@ ALERTS = [
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
 
+  Alert(
+      "relayMalfunction",
+      "TAKE CONTROL IMMEDIATELY",
+      "Harness Malfunction",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),
+
 
   # not loud cancellations (user is in control)
   Alert(
@@ -702,6 +709,13 @@ ALERTS = [
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
 
+  Alert(
+      "relayMalfunctionNoEntry",
+      "openpilot Unavailable",
+      "Harness Malfunction",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
+
   # permanent alerts
   Alert(
       "steerUnavailablePermanent",
@@ -787,6 +801,13 @@ ALERTS = [
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
+  Alert(
+      "relayMalfunctionPermanent",
+      "Harness Malfunction",
+      "Please Check Hardware",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+
   Alert(
       "vehicleModelInvalid",
       "Vehicle Parameter Identification Failed",
@@ -794,7 +815,6 @@ ALERTS = [
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
 
-  # offroad alerts
   Alert(
       "ldwPermanent",
       "TAKE CONTROL",