    },
  
    EventName.canError: {
      ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
      ET.PERMANENT: Alert(
        "CAN Error: Check Connections",
 
</s> remove   auto canData = msg.initEvent().initCan(num_msg);
 </s> add   auto evt = msg.initEvent();
  evt.setValid(comms_healthy); </s> remove     auto ps = msg.initEvent().initPandaState();
 </s> add     auto evt = msg.initEvent();
    evt.setValid(panda->comms_healthy);

    auto ps = evt.initPandaState();
  EventName.usbError: {
    ET.SOFT_DISABLE: SoftDisableAlert("USB Error: Reboot Your Device"),
    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
    ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
  },

    },
  
  EventName.usbError: {
    ET.SOFT_DISABLE: SoftDisableAlert("USB Error: Reboot Your Device"),
    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
    ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
  },

    EventName.canError: {
      ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
      ET.PERMANENT: Alert(
        "CAN Error: Check Connections",
keep add keep keep keep keep
 boardd: set can and pandaState valid flags (#20899)

* boardd: set can and pandaState valid flags

* add event

* bump cereal

* consistency 
selfdrive/controls/lib/events.py