controlsd: revert CAN timeout threshold (#27275)

* controlsd: revert CAN timeout threshold

* dt_ctrl doesn't make sense there
old-commit-hash: 7978901101

selfdrive/controls/controlsd.py

@@ -167,11 +167,11 @@ class Controls:
     self.state = State.disabled
     self.enabled = False
     self.active = False
-    self.can_rcv_timeout = False
     self.soft_disable_timer = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.can_rcv_timeout_counter = 0
+    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
     self.last_blinker_frame = 0
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
@@ -349,9 +349,10 @@ class Controls:
       self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead
+    can_rcv_timeout = self.can_rcv_timeout_counter >= 5
     has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.can_rcv_timeout) and no_system_errors:
+    if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -363,7 +364,7 @@ class Controls:
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
         'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
         'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-        'can_rcv_timeout': self.can_rcv_timeout,
+        'can_rcv_timeout': can_rcv_timeout,
       }
       if logs != self.logged_comm_issue:
         cloudlog.event("commIssue", error=True, **logs)
@@ -445,9 +446,9 @@ class Controls:
     # Check for CAN timeout
     if not can_strs:
       self.can_rcv_timeout_counter += 1
-      self.can_rcv_timeout = True
+      self.can_rcv_cum_timeout_counter += 1
     else:
-      self.can_rcv_timeout = False
+      self.can_rcv_timeout_counter = 0
 
     # When the panda and controlsd do not agree on controls_allowed
     # we want to disengage openpilot. However the status from the panda goes through
@@ -785,7 +786,7 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.can_rcv_timeout_counter
+    controlsState.canErrorCounter = self.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
 
     lat_tuning = self.CP.lateralTuning.which()