openpilot crashed alert

cereal/car.capnp

@@ -123,6 +123,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     laneChangeBlockedLoud @123;
     leadDeparting @124;
     noLaneAvailable @125;
+    openpilotCrashed @126;
     torqueNNLoad @130;
 
     radarCanErrorDEPRECATED @15;

selfdrive/controls/controlsd.py

@@ -7,6 +7,7 @@ from types import SimpleNamespace
 from typing import SupportsFloat
 
 import cereal.messaging as messaging
+import openpilot.selfdrive.sentry as sentry
 
 from cereal import car, log, custom
 from cereal.visionipc import VisionIpcClient, VisionStreamType
@@ -179,6 +180,7 @@ class Controls:
 
     self.driving_gear = False
     self.previously_enabled = False
+    self.openpilot_crashed = False
     self.stopped_for_light_previously = False
 
     self.previous_lead_distance = 0
@@ -325,6 +327,11 @@ class Controls:
 
     frogpilot_plan = self.sm['frogpilotPlan']
 
+    # Show crash log event if openpilot crashed
+    if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
+      self.events.add(EventName.openpilotCrashed)
+      return
+
     # Add joystick event, static on cars, dynamic on nonCars
     if self.joystick_mode:
       self.events.add(EventName.joystickDebug)
@@ -761,8 +768,8 @@ class Controls:
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                   (not standstill or self.joystick_mode)
-    CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+                   (not standstill or self.joystick_mode) and not self.openpilot_crashed
+    CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl and not self.openpilot_crashed
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state

selfdrive/controls/lib/events.py

@@ -1020,6 +1020,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: no_lane_available_alert,
   },
 
+  EventName.openpilotCrashed: {
+    ET.PERMANENT: Alert(
+      "openpilot crashed",
+      "Please post the error log in the FrogPilot Discord!",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.HIGH, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
   EventName.torqueNNLoad: {
     ET.PERMANENT: torque_nn_load_alert,
   },

selfdrive/ui/ui.h

@@ -76,7 +76,12 @@ struct Alert {
       const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
 
       // Handle controls timeout
-      if (controls_frame < started_frame) {
+      if (std::ifstream("/data/community/crashes/error.txt")) {
+        alert = {"openpilot crashed", "Please post the error log in the FrogPilot Discord!",
+                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+                 cereal::ControlsState::AlertStatus::NORMAL,
+                 AudibleAlert::NONE};
+      } else if (controls_frame < started_frame) {
         // car is started, but controlsState hasn't been seen at all
         alert = {"openpilot Unavailable", "Waiting for controls to start",
                  "controlsWaiting", cereal::ControlsState::AlertSize::MID,