per camera alerts (#20992)

* per camera alert

* bump cereal

* cleanup

* space

cereal

@@ -1 +1 @@
-Subproject commit a8055c3f212825096d754c22b25606ef40164054
+Subproject commit b1675bac3d0f759605748daeb93e801a76f7d729

selfdrive/controls/controlsd.py

@@ -72,7 +72,6 @@ class Controls:
 
     if TICI:
       self.log_sock = messaging.sub_sock('androidLog')
-      self.crc_seen = False
 
     # wait for one pandaState and one CAN packet
     print("Waiting for CAN messages...")
@@ -258,24 +257,24 @@ class Controls:
       self.events.add(EventName.fcw)
 
     if TICI and self.enable_lte_onroad:
-      if not self.crc_seen:
-        logs = messaging.drain_sock(self.log_sock, wait_for_one=False)
-        messages = []
-        for m in logs:
-          try:
-            messages.append(m.androidLog.message)
-          except UnicodeDecodeError:
-            pass
-
-        for err in ["ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"]:
-          err_cnt = sum(err in m for m in messages)
-          if err_cnt:
-            self.crc_seen = True
-            self.events.add(EventName.cameraError)
-            break
-
-      if self.crc_seen:
-        self.events.add(EventName.cameraError)
+      logs = messaging.drain_sock(self.log_sock, wait_for_one=False)
+      messages = []
+      for m in logs:
+        try:
+          messages.append(m.androidLog.message)
+        except UnicodeDecodeError:
+          pass
+
+      for err in ["ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"]:
+        for m in messages:
+          if err not in m:
+            continue
+
+          csid = m.split("CSID:")[-1].split(" ")[0]
+          evt = {"0": EventName.wideRoadCameraError, "1": EventName.roadCameraError,
+                 "2": EventName.driverCameraError}.get(csid, None)
+          if evt is not None:
+            self.events.add(evt)
 
     # TODO: fix simulator
     if not SIMULATION:

selfdrive/controls/lib/events.py

@@ -169,10 +169,10 @@ class EngagementAlert(Alert):
                      audible_alert, .2, 0., 0.),
 
 class NormalPermanentAlert(Alert):
-  def __init__(self, alert_text_1, alert_text_2):
+  def __init__(self, alert_text_1: str, alert_text_2: str, duration_text: float = 0.2):
     super().__init__(alert_text_1, alert_text_2,
                      AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., duration_text),
 
 # ********** alert callback functions **********
 
@@ -672,8 +672,19 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
   },
 
-  EventName.cameraError: {
-    ET.PERMANENT: NormalPermanentAlert("CRC Error", ""),
+  EventName.roadCameraError: {
+    ET.PERMANENT: NormalPermanentAlert("Road Camera Error", "",
+                                       duration_text=10.),
+  },
+
+  EventName.driverCameraError: {
+    ET.PERMANENT: NormalPermanentAlert("Driver Camera Error", "",
+                                       duration_text=10.),
+  },
+
+  EventName.wideRoadCameraError: {
+    ET.PERMANENT: NormalPermanentAlert("Wide Road Camera Error", "",
+                                       duration_text=10.),
   },
 
   EventName.usbError: {