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ui.cc: use thermald to decide when to go onroad (#1351) 

* use thermald to decide when to go onroad

* Check for stopped

* set alert timeout to 0 when going offroad

* set controls seen to false

* Don't mark as seen when already stopped

* Don't process controlsState when stopped

* Needs free

* Small cleanup

* Remove that again

* Process controlsState when started

* Need that back
albatross
Willem Melching 2020-04-10 16:12:39 -07:00 committed by GitHub
parent a92683a973
commit 54d8f9c27b
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 64 additions and 47 deletions
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7
selfdrive/ui/paint.cc
View File

@ -877,9 +877,12 @@ static void ui_draw_background(UIState *s) {
void ui_draw(UIState *s) {
ui_draw_background(s);
if (s->vision_connected && s->active_app == cereal_UiLayoutState_App_none && s->status != STATUS_STOPPED) {
if (s->started && s->active_app == cereal_UiLayoutState_App_none && s->status != STATUS_STOPPED) {
ui_draw_sidebar(s);
ui_draw_vision(s);
if (s->vision_seen){
ui_draw_vision(s);
}
} else {
if (!s->scene.uilayout_sidebarcollapsed) {
ui_draw_sidebar(s);

102
selfdrive/ui/ui.cc
View File

@ -106,7 +106,7 @@ static void navigate_to_settings(UIState *s) {
static void navigate_to_home(UIState *s) {
#ifdef QCOM
if (s->vision_connected) {
if (s->started) {
s->active_app = cereal_UiLayoutState_App_none;
} else {
s->active_app = cereal_UiLayoutState_App_home;
@ -126,7 +126,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
if (touch_x >= home_btn_x && touch_x < (home_btn_x + home_btn_w)
&& touch_y >= home_btn_y && touch_y < (home_btn_y + home_btn_h)) {
navigate_to_home(s);
if (s->vision_connected) {
if (s->started) {
s->scene.uilayout_sidebarcollapsed = true;
update_offroad_layout_state(s);
}
@ -135,7 +135,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
}
static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
if (s->vision_connected && (touch_x >= s->scene.ui_viz_rx - bdr_s)
if (s->started && (touch_x >= s->scene.ui_viz_rx - bdr_s)
&& (s->active_app != cereal_UiLayoutState_App_settings)) {
s->scene.uilayout_sidebarcollapsed = !s->scene.uilayout_sidebarcollapsed;
update_offroad_layout_state(s);
@ -374,7 +374,7 @@ void handle_message(UIState *s, Message * msg) {
struct cereal_Event eventd;
cereal_read_Event(&eventd, eventp);
if (eventd.which == cereal_Event_controlsState) {
if (eventd.which == cereal_Event_controlsState && s->started) {
struct cereal_ControlsState datad;
cereal_read_ControlsState(&datad, eventd.controlsState);
@ -436,16 +436,14 @@ void handle_message(UIState *s, Message * msg) {
s->alert_size = ALERTSIZE_FULL;
}
if (s->status != STATUS_STOPPED) {
if (datad.alertStatus == cereal_ControlsState_AlertStatus_userPrompt) {
update_status(s, STATUS_WARNING);
} else if (datad.alertStatus == cereal_ControlsState_AlertStatus_critical) {
update_status(s, STATUS_ALERT);
} else if (datad.enabled) {
update_status(s, STATUS_ENGAGED);
} else {
update_status(s, STATUS_DISENGAGED);
}
if (datad.alertStatus == cereal_ControlsState_AlertStatus_userPrompt) {
update_status(s, STATUS_WARNING);
} else if (datad.alertStatus == cereal_ControlsState_AlertStatus_critical) {
update_status(s, STATUS_ALERT);
} else if (datad.enabled) {
update_status(s, STATUS_ENGAGED);
} else {
update_status(s, STATUS_DISENGAGED);
}
s->scene.alert_blinkingrate = datad.alertBlinkingRate;
@ -535,6 +533,25 @@ void handle_message(UIState *s, Message * msg) {
s->scene.freeSpace = datad.freeSpace;
s->scene.thermalStatus = datad.thermalStatus;
s->scene.paTemp = datad.pa0;
s->started = datad.started;
// Handle onroad/offroad transition
if (!datad.started) {
if (s->status != STATUS_STOPPED) {
update_status(s, STATUS_STOPPED);
s->alert_sound_timeout = 0;
s->vision_seen = false;
s->controls_seen = false;
s->active_app = cereal_UiLayoutState_App_home;
update_offroad_layout_state(s);
}
} else if (s->status == STATUS_STOPPED) {
update_status(s, STATUS_DISENGAGED);
s->active_app = cereal_UiLayoutState_App_none;
update_offroad_layout_state(s);
}
} else if (eventd.which == cereal_Event_ubloxGnss) {
struct cereal_UbloxGnss datad;
cereal_read_UbloxGnss(&datad, eventd.ubloxGnss);
@ -721,8 +738,6 @@ static void ui_update(UIState *s) {
}
break;
}
// peek and consume all events in the zmq queue, then return.
check_messages(s);
}
static int vision_subscribe(int fd, VisionPacket *rp, VisionStreamType type) {
@ -790,6 +805,7 @@ static void* vision_connect_thread(void *args) {
front_rp.d.stream_bufs, front_rp.num_fds, front_rp.fds);
s->vision_connected = true;
s->vision_seen = true;
s->vision_connect_firstrun = true;
// Drain sockets
@ -928,10 +944,12 @@ int main(int argc, char* argv[]) {
int draws = 0;
s->scene.satelliteCount = -1;
s->started = false;
s->vision_seen = false;
while (!do_exit) {
bool should_swap = false;
if (!s->vision_connected) {
if (!s->started) {
// Delay a while to avoid 9% cpu usage while car is not started and user is keeping touching on the screen.
// Don't hold the lock while sleeping, so that vision_connect_thread have chances to get the lock.
usleep(30 * 1000);
@ -961,25 +979,20 @@ int main(int argc, char* argv[]) {
handle_vision_touch(s, touch_x, touch_y);
}
if (!s->vision_connected) {
if (!s->started) {
// always process events offroad
if (s->status != STATUS_STOPPED) {
update_status(s, STATUS_STOPPED);
s->active_app = cereal_UiLayoutState_App_home;
update_offroad_layout_state(s);
}
check_messages(s);
} else {
set_awake(s, true);
if (s->status == STATUS_STOPPED) {
update_status(s, STATUS_DISENGAGED);
s->active_app = cereal_UiLayoutState_App_none;
update_offroad_layout_state(s);
// Car started, fetch a new rgb image from ipc
if (s->vision_connected){
ui_update(s);
}
// Car started, fetch a new rgb image from ipc and peek for zmq events.
ui_update(s);
if (!s->vision_connected) {
// Visiond process is just stopped, force a redraw to make screen blank again.
check_messages(s);
// Visiond process is just stopped, force a redraw to make screen blank again.
if (!s->started) {
s->scene.satelliteCount = -1;
s->scene.uilayout_sidebarcollapsed = false;
update_offroad_layout_state(s);
@ -1018,36 +1031,35 @@ int main(int argc, char* argv[]) {
s->volume_timeout = 5 * UI_FREQ;
}
// If car is started and controlsState times out, display an alert
if (s->controls_timeout > 0) {
s->controls_timeout--;
} else {
// stop playing alert sound
if ((!s->vision_connected || (s->vision_connected && s->alert_sound_timeout == 0)) &&
s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
stop_alert_sound(s->alert_sound);
s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
}
// if visiond is still running and controlsState times out, display an alert
// TODO: refactor this to not be here
if (s->controls_seen && s->vision_connected && strcmp(s->scene.alert_text2, "Controls Unresponsive") != 0) {
if (s->started && s->controls_seen && strcmp(s->scene.alert_text2, "Controls Unresponsive") != 0) {
LOGE("Controls unresponsive");
s->scene.alert_size = ALERTSIZE_FULL;
if (s->status != STATUS_STOPPED) {
update_status(s, STATUS_ALERT);
}
update_status(s, STATUS_ALERT);
snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", "TAKE CONTROL IMMEDIATELY");
snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", "Controls Unresponsive");
ui_draw_vision_alert(s, s->scene.alert_size, s->status, s->scene.alert_text1, s->scene.alert_text2);
s->alert_sound_timeout = 2 * UI_FREQ;
s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_chimeWarningRepeat;
play_alert_sound(s->alert_sound);
}
s->alert_sound_timeout--;
s->controls_seen = false;
}
// stop playing alert sound
if ((!s->started || (s->started && s->alert_sound_timeout == 0)) &&
s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
stop_alert_sound(s->alert_sound);
s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
}
read_param_bool_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);

2
selfdrive/ui/ui.hpp
View File

@ -279,6 +279,8 @@ typedef struct UIState {
int alert_size;
float alert_blinking_alpha;
bool alert_blinked;
bool started;
bool vision_seen;
float light_sensor;