Recover from blocked steering messages

[sshane]

To recover from blocked messages, think we can do this incrementally

[adeebshihadeh]

We can certainly do this incrementally, but I'd really like to do this generically from the start. This is a problem with all ports, and it'll quickly get out of hand if we do it like this for all of them.

[sshane]

proof of concept, but did you mean something like this where controlsd passes in all blocked addrs?

[gregjhogan]

This is a big change, but perhaps we should break apart generating the car specific state and sending CAN messages at specific frequencies. Like have carcontroller generate the complete car specific state at a high frequency and something else manage outputting the CAN messages each at the appropriate frequency (e.g. register functions with associated frequencies). Then we can detect blocked messages and immediately send a new message generically as fast as possible. We could probably find a way to do it one car at a time if we thought it was a good long-term abstraction.

[sshane]

will come up with something final and re-open