ui: add timeout check for unresponsive system detection (#35433)

add time out to check if messages have stopped arriving

selfdrive/ui/onroad/alert_renderer.py

@@ -3,7 +3,7 @@ import pyray as rl
 from dataclasses import dataclass
 from cereal import messaging, log
 from openpilot.system.hardware import TICI
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEBUG_FPS
 from openpilot.system.ui.lib.label import gui_text_box
 from openpilot.selfdrive.ui.ui_state import ui_state
 
@@ -70,8 +70,12 @@ class AlertRenderer:
     """Generate the current alert based on selfdrive state."""
     ss = sm['selfdriveState']
 
+    # Check if selfdriveState messages have stopped arriving
+    if not sm.updated['selfdriveState']:
+      recv_frame = sm.recv_frame['selfdriveState']
+      if (sm.frame - recv_frame) > 5 * DEBUG_FPS:
         # Check if waiting to start
-    if sm.recv_frame['selfdriveState'] < ui_state.started_frame:
+        if recv_frame < ui_state.started_frame:
           return ALERT_STARTUP_PENDING
 
         # Handle selfdrive timeout