From bbdce92c168469db03e45ef13fe083fa6b9a90e2 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 9 Apr 2020 13:42:33 -0700
Subject: [PATCH] Populate health.faults from panda health packet

old-commit-hash: f718ceafd51b71a8f16e2fee2ada141965a2e492
---
 cereal                     |  2 +-
 selfdrive/boardd/boardd.cc | 13 +++++++++++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/cereal b/cereal
index 975a633b86..c8e5db830d 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 975a633b863ae35263b2171bbcb2c5074a8f28ca
+Subproject commit c8e5db830d30e5ea0d0abef0479d9c48cfd24504
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 65334e0872..383471f2d3 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -29,6 +29,7 @@
 #include "messaging.hpp"
 
 #include <algorithm>
+#include <bitset>
 
 // double the FIFO size
 #define RECV_SIZE (0x1000)
@@ -514,6 +515,18 @@ void can_health(PubSocket *publisher) {
   healthData.setFaultStatus(cereal::HealthData::FaultStatus(health.fault_status));
   healthData.setPowerSaveEnabled((bool)(health.power_save_enabled));
 
+  // Convert faults bitset to capnp list
+  std::bitset<32> fault_bits(health.faults);
+  auto faults = healthData.initFaults(fault_bits.count());
+
+  size_t i = 0;
+  for (size_t f = size_t(cereal::HealthData::FaultType::RELAY_MALFUNCTION);
+       f <= size_t(cereal::HealthData::FaultType::REGISTER_DIVERGENT); f++){
+    if (fault_bits.test(f)) {
+      faults.set(i, cereal::HealthData::FaultType(f));
+      i++;
+    }
+  }
   // send to health
   auto words = capnp::messageToFlatArray(msg);
   auto bytes = words.asBytes();