cloudlog once on commIssue (#19949)

old-commit-hash: bacf8727d7

selfdrive/controls/controlsd.py

@@ -7,6 +7,7 @@ from common.profiler import Profiler
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.config import Conversions as CV
+from selfdrive.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
@@ -123,6 +124,7 @@ class Controls:
     self.last_functional_fan_frame = 0
     self.events_prev = []
     self.current_alert_types = [ET.PERMANENT]
+    self.logged_comm_issue = False
 
     self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
     self.sm['thermal'].freeSpace = 1.
@@ -208,11 +210,18 @@ class Controls:
     if (self.sm['health'].safetyModel != self.CP.safetyModel and self.sm.frame > 2 / DT_CTRL) or \
       self.mismatch_counter >= 200:
       self.events.add(EventName.controlsMismatch)
+
     if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
       # only plan not being received: radar not communicating
       self.events.add(EventName.radarCommIssue)
     elif not self.sm.all_alive_and_valid():
       self.events.add(EventName.commIssue)
+      if not self.logged_comm_issue:
+        cloudlog.error(f"commIssue - valid: {self.sm.valid} - alive: {self.sm.alive}")
+        self.logged_comm_issue = True
+    else:
+      self.logged_comm_issue = False
+
     if not self.sm['pathPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
     if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR: