From 00138a7f667ea6152a673764332fe4be756e63fb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 27 Jan 2022 17:46:24 -0800
Subject: [PATCH] Add blocked message counter to health packet (#841)

* Add blocked message counter to health packet

* move that

* update python

* fix struct

Co-authored-by: Comma Device <device@comma.ai>
---
 board/drivers/can_common.h | 2 ++
 board/main.c               | 2 ++
 board/safety.h             | 4 ++--
 board/usb_comms.h          | 4 +++-
 python/__init__.py         | 8 +++++---
 5 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
index f22ab979..ef2a8df5 100644
--- a/board/drivers/can_common.h
+++ b/board/drivers/can_common.h
@@ -18,6 +18,7 @@ uint32_t can_rx_errs = 0;
 uint32_t can_send_errs = 0;
 uint32_t can_fwd_errs = 0;
 uint32_t gmlan_send_errs = 0;
+uint32_t blocked_msg_cnt = 0;
 
 extern int can_live;
 extern int pending_can_live;
@@ -242,6 +243,7 @@ void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
       }
     }
   } else {
+    blocked_msg_cnt += 1U;
     to_push->rejected = 1U;
     can_send_errs += can_push(&can_rx_q, to_push) ? 0U : 1U;
   }
diff --git a/board/main.c b/board/main.c
index 664a8b88..3682d1b7 100644
--- a/board/main.c
+++ b/board/main.c
@@ -83,6 +83,8 @@ void set_safety_mode(uint16_t mode, int16_t param) {
       }
     }
   }
+  blocked_msg_cnt = 0;
+
   switch (mode_copy) {
     case SAFETY_SILENT:
       set_intercept_relay(false);
diff --git a/board/safety.h b/board/safety.h
index 875fe9ef..b53f3958 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -1,6 +1,6 @@
-// include first, needed by safety policies
 #include "safety_declarations.h"
-// Include the actual safety policies.
+
+// include the safety policies.
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
diff --git a/board/usb_comms.h b/board/usb_comms.h
index aa5af6e8..8a14ede7 100644
--- a/board/usb_comms.h
+++ b/board/usb_comms.h
@@ -3,7 +3,7 @@
 extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
 
 // When changing this struct, boardd and python/__init__.py needs to be kept up to date!
-#define HEALTH_PACKET_VERSION 2
+#define HEALTH_PACKET_VERSION 3
 struct __attribute__((packed)) health_t {
   uint32_t uptime_pkt;
   uint32_t voltage_pkt;
@@ -25,6 +25,7 @@ struct __attribute__((packed)) health_t {
   uint8_t power_save_enabled_pkt;
   uint8_t heartbeat_lost_pkt;
   uint16_t unsafe_mode_pkt;
+  uint32_t blocked_msg_cnt_pkt;
 };
 
 // Prototypes
@@ -56,6 +57,7 @@ int get_health_pkt(void *dat) {
   health->unsafe_mode_pkt = unsafe_mode;
   health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
   health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
+  health->blocked_msg_cnt_pkt = blocked_msg_cnt;
 
   health->fault_status_pkt = fault_status;
   health->faults_pkt = faults;
diff --git a/python/__init__.py b/python/__init__.py
index 6804d7a7..89e81e43 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -160,7 +160,8 @@ class Panda(object):
   HW_TYPE_RED_PANDA = b'\x07'
 
   CAN_PACKET_VERSION = 2
-  HEALTH_PACKET_VERSION = 2
+  HEALTH_PACKET_VERSION = 3
+  HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHI")
 
   F2_DEVICES = [HW_TYPE_PEDAL]
   F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
@@ -353,8 +354,8 @@ class Panda(object):
 
   @ensure_health_packet_version
   def health(self):
-    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 46)
-    a = struct.unpack("<IIIIIIIIBBBBBBBHBBBH", dat)
+    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, self.HEALTH_STRUCT.size)
+    a = self.HEALTH_STRUCT.unpack(dat)
     return {
       "uptime": a[0],
       "voltage": a[1],
@@ -376,6 +377,7 @@ class Panda(object):
       "power_save_enabled": a[17],
       "heartbeat_lost": a[18],
       "unsafe_mode": a[19],
+      "blocked_msg_cnt": a[20],
     }
 
   # ******************* control *******************