From a47666d1fd7d0babb0ba39ec986d0b7a04d82984 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 6 Apr 2022 17:11:39 -0700
Subject: [PATCH] add cameraFrameRate alert (#24152)

* add cameraFrameRate alert

* bump cereal
old-commit-hash: 1848050fd980a04dfc70454547ab7b52affe2917
---
 cereal                           | 2 +-
 selfdrive/controls/controlsd.py  | 3 +--
 selfdrive/controls/lib/events.py | 6 +++++-
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/cereal b/cereal
index 1620ce54ee..24c34d7bc0 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 1620ce54ee878069f68a023ee12c6a9a7d7e29c7
+Subproject commit 24c34d7bc037d01da254a9b423f246a950bec317
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 198ee08b3e..d15626d3c3 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -356,11 +356,10 @@ class Controls:
           # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
           self.events.add(EventName.noGps)
 
-      # TODO: split into separate alerts
       if not self.sm.all_alive(self.camera_packets):
         self.events.add(EventName.cameraMalfunction)
       elif not self.sm.all_freq_ok(self.camera_packets):
-        self.events.add(EventName.cameraMalfunction)
+        self.events.add(EventName.cameraFrameRate)
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 54ca53d7ec..625fc32a33 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -491,10 +491,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"),
   },
 
-  # Camera is not outputting frames at a constant framerate
+  # Camera is not outputting frames
   EventName.cameraMalfunction: {
     ET.PERMANENT: NormalPermanentAlert("Camera Malfunction", "Likely Hardware Issue"),
   },
+  # Camera framerate too low
+  EventName.cameraFrameRate: {
+    ET.PERMANENT: NormalPermanentAlert("Camera Frame Rate Low", "Reboot your Device"),
+  },
 
   # Unused
   EventName.gpsMalfunction: {