From e987e6c6393e1e1432ba6bb740eb2c1b80542043 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 3 Oct 2022 16:05:16 -0700
Subject: [PATCH] add pandaState.safetyRxChecksInvalid field (#1083)

* add fault for invalid safety RX checks

* fix test build

* debug

* fix debug

* fix test

* just a bool in health
---
 board/health.h              | 3 ++-
 board/main_comms.h          | 1 +
 board/safety.h              | 8 ++++++++
 board/safety_declarations.h | 1 +
 python/__init__.py          | 5 +++--
 5 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/board/health.h b/board/health.h
index 947fdb40..6e783280 100644
--- a/board/health.h
+++ b/board/health.h
@@ -1,6 +1,6 @@
 // When changing these structs, python/__init__.py needs to be kept up to date!
 
-#define HEALTH_PACKET_VERSION 10
+#define HEALTH_PACKET_VERSION 11
 
 struct __attribute__((packed)) health_t {
   uint32_t uptime_pkt;
@@ -25,6 +25,7 @@ struct __attribute__((packed)) health_t {
   uint16_t alternative_experience_pkt;
   float interrupt_load;
   uint8_t fan_power;
+  uint8_t safety_rx_checks_invalid;
 };
 
 #define CAN_HEALTH_PACKET_VERSION 2
diff --git a/board/main_comms.h b/board/main_comms.h
index 71488de6..c08f0b14 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -29,6 +29,7 @@ int get_health_pkt(void *dat) {
   health->alternative_experience_pkt = alternative_experience;
   health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
   health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
+  health->safety_rx_checks_invalid = safety_rx_checks_invalid;
 
   health->fault_status_pkt = fault_status;
   health->faults_pkt = faults;
diff --git a/board/safety.h b/board/safety.h
index 590d43d8..b96947fa 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -164,6 +164,7 @@ int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], cons
 
 // 1Hz safety function called by main. Now just a check for lagging safety messages
 void safety_tick(const addr_checks *rx_checks) {
+  bool rx_checks_invalid = false;
   uint32_t ts = microsecond_timer_get();
   if (rx_checks != NULL) {
     for (int i=0; i < rx_checks->len; i++) {
@@ -176,8 +177,14 @@ void safety_tick(const addr_checks *rx_checks) {
       if (lagging) {
         controls_allowed = 0;
       }
+
+      if (lagging || !is_msg_valid(rx_checks->check, i)) {
+        rx_checks_invalid = true;
+      }
     }
   }
+
+  safety_rx_checks_invalid = rx_checks_invalid;
 }
 
 void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {
@@ -339,6 +346,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
 
   controls_allowed = false;
   relay_malfunction_reset();
+  safety_rx_checks_invalid = false;
 
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index f38512e0..f0c1dff2 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -146,6 +146,7 @@ float vehicle_speed = 0;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;
+bool safety_rx_checks_invalid = false;
 
 // for safety modes with torque steering control
 int desired_torque_last = 0;       // last desired steer torque
diff --git a/python/__init__.py b/python/__init__.py
index 2b35ceb6..1c85b04c 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -185,9 +185,9 @@ class Panda:
   HW_TYPE_RED_PANDA_V2 = b'\x08'
 
   CAN_PACKET_VERSION = 2
-  HEALTH_PACKET_VERSION = 10
+  HEALTH_PACKET_VERSION = 11
   CAN_HEALTH_PACKET_VERSION = 2
-  HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfB")
+  HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBB")
   CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBB")
 
   F2_DEVICES = (HW_TYPE_PEDAL, )
@@ -470,6 +470,7 @@ class Panda:
       "alternative_experience": a[19],
       "interrupt_load": a[20],
       "fan_power": a[21],
+      "safety_rx_checks_invalid": a[22],
     }
 
   @ensure_can_health_packet_version