controlsd: alert on cruise mismatch for >1s (#22841)

* controlsd: alert on cruise mismatch for >1s

* bump cereal

* update refs

* bump allowed soundd cpu

* bump cereal
old-commit-hash: 035bc0c20f

cereal

@@ -1 +1 @@
-Subproject commit 4d93775f7e6fb5ffbd8f6b68ee5e6704b023d2ea
+Subproject commit c2761bdbd85b844ed9900eb2f067312be3a0aaea

selfdrive/controls/controlsd.py

@@ -147,6 +147,7 @@ class Controls:
     self.v_cruise_kph = 255
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
+    self.cruise_mismatch_counter = 0
     self.can_error_counter = 0
     self.last_blinker_frame = 0
     self.saturated_count = 0
@@ -260,9 +261,7 @@ class Controls:
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)
 
-    if not self.sm['liveParameters'].valid:
-      self.events.add(EventName.vehicleModelInvalid)
-
+    # Check for HW or system issues
     if len(self.sm['radarState'].radarErrors):
       self.events.add(EventName.radarFault)
     elif not self.sm.valid["pandaStates"]:
@@ -277,6 +276,8 @@ class Controls:
     else:
       self.logged_comm_issue = False
 
+    if not self.sm['liveParameters'].valid:
+      self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
     if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
@@ -290,6 +291,13 @@ class Controls:
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)
 
+    # Check for mismatch between openpilot and car's PCM
+    cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+    self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
+    if self.cruise_mismatch_counter > int(1. / DT_CTRL):
+      self.events.add(EventName.cruiseMismatch)
+
+    # Check for FCW
     stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
     model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled

selfdrive/controls/lib/events.py

@@ -301,6 +301,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2),
   },
 
+  EventName.cruiseMismatch: {
+    ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"),
+  },
+
   # Some features or cars are marked as community features. If openpilot
   # detects the use of a community feature it switches to dashcam mode
   # until these features are allowed using a toggle in settings.

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-0ee2d1f6b658ecb823212827f5fd6b996f143119
+e1ac1b89b7c6638c5777f1e8db368d264e0de8e6

selfdrive/test/test_onroad.py

@@ -112,7 +112,7 @@ def check_cpu_usage(first_proc, last_proc):
       cpu_usage = cpu_time / dt * 100.
       if cpu_usage > max(normal_cpu_usage * 1.15, normal_cpu_usage + 5.0):
         # cpu usage is high while playing sounds
-        if proc_name == "./_soundd" and cpu_usage < 25.:
+        if proc_name == "./_soundd" and cpu_usage < 65.:
           continue
         result += f"Warning {proc_name} using more CPU than normal\n"
         r = False