From 88b956528e614dc7429d525d5d7e09b5431d7b38 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 22 Oct 2020 16:28:54 -0700
Subject: [PATCH] camera malfunction alert (#2391)

* camera malfunction alert

* bump cereal

* fix process replay

* ugh, needs refactor
---
 cereal                                          | 2 +-
 selfdrive/controls/controlsd.py                 | 8 +++++---
 selfdrive/controls/lib/events.py                | 4 ++++
 selfdrive/test/longitudinal_maneuvers/plant.py  | 8 ++++----
 selfdrive/test/process_replay/process_replay.py | 2 +-
 5 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/cereal b/cereal
index 7128f46571..b39fb46a72 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7128f46571c9a2cafb350f13e8dcaf28d0f4134d
+Subproject commit b39fb46a72aa26b3220ea7d78476fede39ca361e
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8dd19a54d9..4950dc21c6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -52,7 +52,7 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
-      self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration',
+      self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'frontFrame',
                                      'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
 
     self.can_sock = can_sock
@@ -236,7 +236,9 @@ class Controls:
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
     if self.sm['model'].frameDropPerc > 1 and (not SIMULATION):
-        self.events.add(EventName.modeldLagging)
+       self.events.add(EventName.modeldLagging)
+    if not self.sm.alive['frontFrame']:
+       self.events.add(EventName.cameraMalfunction)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
@@ -456,7 +458,7 @@ class Controls:
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
     force_decel = (self.sm['dMonitoringState'].awarenessStatus < 0.) or \
-                    (self.state == State.softDisabling)
+                  (self.state == State.softDisabling)
 
     steer_angle_rad = (CS.steeringAngle - self.sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index be23d3b0f9..dd425ddbd1 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -472,6 +472,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
     ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact Support"),
   },
 
+  EventName.cameraMalfunction: {
+    ET.PERMANENT: NormalPermanentAlert("Camera Malfunction", "Contact Support"),
+  },
+
   # ********** events that affect controls state transitions **********
 
   EventName.pcmEnable: {
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index dffda44068..eba0933c8e 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -112,7 +112,7 @@ class Plant():
       Plant.logcan = messaging.pub_sock('can')
       Plant.sendcan = messaging.sub_sock('sendcan')
       Plant.model = messaging.pub_sock('model')
-      Plant.frame_pub = messaging.pub_sock('frame')
+      Plant.front_frame = messaging.pub_sock('frontFrame')
       Plant.live_params = messaging.pub_sock('liveParameters')
       Plant.live_location_kalman = messaging.pub_sock('liveLocationKalman')
       Plant.health = messaging.pub_sock('health')
@@ -162,7 +162,7 @@ class Plant():
   def close(self):
     Plant.logcan.close()
     Plant.model.close()
-    Plant.frame_pub.close()
+    Plant.front_frame.close()
     Plant.live_params.close()
     Plant.live_location_kalman.close()
 
@@ -393,7 +393,7 @@ class Plant():
     if publish_model and self.frame % 5 == 0:
       md = messaging.new_message('model')
       cal = messaging.new_message('liveCalibration')
-      fp = messaging.new_message('frame')
+      fp = messaging.new_message('frontFrame')
       md.model.frameId = 0
       for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
         x.points = [0.0]*50
@@ -425,7 +425,7 @@ class Plant():
       # fake values?
       Plant.model.send(md.to_bytes())
       Plant.cal.send(cal.to_bytes())
-      Plant.frame_pub.send(fp.to_bytes())
+      Plant.front_frame.send(fp.to_bytes())
 
     Plant.logcan.send(can_list_to_can_capnp(can_msgs))
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a58ed4ee80..3596096a2b 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -221,7 +221,7 @@ CONFIGS = [
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
       "thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [], "liveLocationKalman": [],
-      "model": [], "frame": [],
+      "model": [], "frontFrame": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     init_callback=fingerprint,