Add permanent CAN error alert (#1549)

* Add permanent CAN error alert

* canValid needs some time to initialize

* update ref

selfdrive/controls/controlsd.py

@@ -210,8 +210,8 @@ class Controls:
       self.events.add(EventName.radarFault)
     if self.sm['plan'].radarCanError:
       self.events.add(EventName.radarCanError)
-    if not CS.canValid:
-      self.events.add(EventName.canError)
+    if not CS.canValid and self.sm.frame > 5 / DT_CTRL:
+        self.events.add(EventName.canError)
     if log.HealthData.FaultType.relayMalfunction in self.sm['health'].faults:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:

selfdrive/controls/lib/events.py

@@ -607,6 +607,11 @@ EVENTS = {
   EventName.canError: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
     ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.PERMANENT: Alert(
+      "CAN Error: Check Connections",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
   },
 
   EventName.steerUnavailable: {

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-59bd32350139796784708f51c233d37c18f33e6e
+dadb4f96017c4f6b36fd829c41315b0a7f31c8e5