CAN receive error is a comm issue (#23362)

selfdrive/controls/controlsd.py

@@ -150,7 +150,7 @@ def __init__(self, sm=None, pm=None, can_sock=None):
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.can_error_counter = 0
+    self.can_rcv_error_counter = 0
     self.last_blinker_frame = 0
     self.saturated_count = 0
     self.distance_traveled = 0
@@ -253,7 +253,7 @@ def update_events(self, CS):
                                                  LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
 
-    if self.can_rcv_error or not CS.canValid:
+    if not CS.canValid:
       self.events.add(EventName.canError)
 
     for i, pandaState in enumerate(self.sm['pandaStates']):
@@ -273,7 +273,7 @@ def update_events(self, CS):
       self.events.add(EventName.radarFault)
     elif not self.sm.valid["pandaStates"]:
       self.events.add(EventName.usbError)
-    elif not self.sm.all_alive_and_valid():
+    elif not self.sm.all_alive_and_valid() or self.can_rcv_error:
       self.events.add(EventName.commIssue)
       if not self.logged_comm_issue:
         invalid = [s for s, valid in self.sm.valid.items() if not valid]
@@ -378,7 +378,7 @@ def data_sample(self):
 
     # Check for CAN timeout
     if not can_strs:
-      self.can_error_counter += 1
+      self.can_rcv_error_counter += 1
       self.can_rcv_error = True
     else:
       self.can_rcv_error = False
@@ -663,7 +663,7 @@ def publish_logs(self, CS, start_time, actuators, lac_log):
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.can_error_counter
+    controlsState.canErrorCounter = self.can_rcv_error_counter
 
     if self.joystick_mode:
       controlsState.lateralControlState.debugState = lac_log