      if CS.gasPressed:
        self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else
                        EventName.gasPressedOverride)
  
      self.events.add_from_msg(CS.events)
  
      if not self.CP.notCar:
        self.events.add_from_msg(self.sm['driverMonitoringState'].events)
  
      # Create events for temperature, disk space, and memory
      if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
 
</s> remove       can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
 </s> add       can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20 </s> remove     config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
 </s> add     config_realtime_process(4, Priority.CTRL_HIGH) </s> remove     self.logged_comm_issue = False
 </s> add     self.logged_comm_issue = None
      if CS.gasPressed:
        self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else
                        EventName.gasPressedOverride)
  


      if not self.CP.notCar:
        self.events.add_from_msg(self.sm['driverMonitoringState'].events)
  
      # Create events for temperature, disk space, and memory
      if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
keep keep keep keep replace replace keep keep keep keep keep
 controlsd: better alert precedence for system malfunctions (#24366)

* controlsd: better alert precedence for system malfunctions

* down to 20

* move that

* check can flags

* update refs

* update refs 
selfdrive/controls/controlsd.py