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UI: handle alert in function update_alert (#19762) 

* handle alert in function update_alert

* use sm->updated

* typo
albatross
Dean Lee 2021-01-28 06:16:51 +08:00 committed by GitHub
parent 3b9ae9a959
commit af4ac70cb8
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 53 additions and 46 deletions
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99
selfdrive/ui/ui.cc
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@ -111,31 +111,7 @@ static void update_sockets(UIState *s) {
}
if (s->started && sm.updated("controlsState")) {
auto event = sm["controlsState"];
scene.controls_state = event.getControlsState();
// TODO: the alert stuff shouldn't be handled here
auto alert_sound = scene.controls_state.getAlertSound();
if (scene.alert_type.compare(scene.controls_state.getAlertType()) != 0) {
if (alert_sound == AudibleAlert::NONE) {
s->sound->stop();
} else {
s->sound->play(alert_sound);
}
}
scene.alert_text1 = scene.controls_state.getAlertText1();
scene.alert_text2 = scene.controls_state.getAlertText2();
scene.alert_size = scene.controls_state.getAlertSize();
scene.alert_type = scene.controls_state.getAlertType();
scene.alert_blinking_rate = scene.controls_state.getAlertBlinkingRate();
auto alertStatus = scene.controls_state.getAlertStatus();
if (alertStatus == cereal::ControlsState::AlertStatus::USER_PROMPT) {
s->status = STATUS_WARNING;
} else if (alertStatus == cereal::ControlsState::AlertStatus::CRITICAL) {
s->status = STATUS_ALERT;
} else {
s->status = scene.controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
}
scene.controls_state = sm["controlsState"].getControlsState();
}
if (sm.updated("radarState")) {
auto data = sm["radarState"].getRadarState();
@ -195,6 +171,57 @@ static void update_sockets(UIState *s) {
s->started = scene.thermal.getStarted() || scene.frontview;
}
static void update_alert(UIState *s) {
if (!s->started || s->scene.frontview) return;
UIScene &scene = s->scene;
if (s->sm->updated("controlsState")) {
auto alert_sound = scene.controls_state.getAlertSound();
if (scene.alert_type.compare(scene.controls_state.getAlertType()) != 0) {
if (alert_sound == AudibleAlert::NONE) {
s->sound->stop();
} else {
s->sound->play(alert_sound);
}
}
scene.alert_text1 = scene.controls_state.getAlertText1();
scene.alert_text2 = scene.controls_state.getAlertText2();
scene.alert_size = scene.controls_state.getAlertSize();
scene.alert_type = scene.controls_state.getAlertType();
scene.alert_blinking_rate = scene.controls_state.getAlertBlinkingRate();
auto alert_status = scene.controls_state.getAlertStatus();
if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
s->status = STATUS_WARNING;
} else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
s->status = STATUS_ALERT;
} else {
s->status = scene.controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
}
}
// Handle controls timeout
if ((s->sm->frame - s->started_frame) > 10 * UI_FREQ) {
const uint64_t cs_frame = s->sm->rcv_frame("controlsState");
if (cs_frame < s->started_frame) {
// car is started, but controlsState hasn't been seen at all
s->scene.alert_text1 = "openpilot Unavailable";
s->scene.alert_text2 = "Waiting for controls to start";
s->scene.alert_size = cereal::ControlsState::AlertSize::MID;
} else if ((s->sm->frame - cs_frame) > 5 * UI_FREQ) {
// car is started, but controls is lagging or died
if (s->scene.alert_text2 != "Controls Unresponsive") {
s->sound->play(AudibleAlert::CHIME_WARNING_REPEAT);
LOGE("Controls unresponsive");
}
s->scene.alert_text1 = "TAKE CONTROL IMMEDIATELY";
s->scene.alert_text2 = "Controls Unresponsive";
s->scene.alert_size = cereal::ControlsState::AlertSize::FULL;
s->status = STATUS_ALERT;
}
}
}
static void update_params(UIState *s) {
const uint64_t frame = s->sm->frame;
@ -229,6 +256,7 @@ static void update_vision(UIState *s) {
void ui_update(UIState *s) {
update_params(s);
update_sockets(s);
update_alert(s);
update_vision(s);
// Handle onroad/offroad transition
@ -246,25 +274,4 @@ void ui_update(UIState *s) {
s->scene.sidebar_collapsed = true;
s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
}
// Handle controls timeout
if (s->started && !s->scene.frontview && ((s->sm)->frame - s->started_frame) > 10*UI_FREQ) {
if ((s->sm)->rcv_frame("controlsState") < s->started_frame) {
// car is started, but controlsState hasn't been seen at all
s->scene.alert_text1 = "openpilot Unavailable";
s->scene.alert_text2 = "Waiting for controls to start";
s->scene.alert_size = cereal::ControlsState::AlertSize::MID;
} else if (((s->sm)->frame - (s->sm)->rcv_frame("controlsState")) > 5*UI_FREQ) {
// car is started, but controls is lagging or died
if (s->scene.alert_text2 != "Controls Unresponsive") {
s->sound->play(AudibleAlert::CHIME_WARNING_REPEAT);
LOGE("Controls unresponsive");
}
s->scene.alert_text1 = "TAKE CONTROL IMMEDIATELY";
s->scene.alert_text2 = "Controls Unresponsive";
s->scene.alert_size = cereal::ControlsState::AlertSize::FULL;
s->status = STATUS_ALERT;
}
}
}