UI: Move the variables need to be updated by socket to UIScene (#19783)
* move variables into UIScene * rebase master * rebase master * rebase master * rebase master * rebase master * rebase master * fix build error * cleanup Co-authored-by: Willem Melching <willem.melching@gmail.com>albatross
Dean Lee
GitHub
parent
6b5a5bd180
commit
dd603a89f6
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@ -30,14 +30,14 @@ static void handle_display_state(UIState *s, bool user_input) {
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constexpr float accel_samples = 5*UI_FREQ;
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static float accel_prev = 0., gyro_prev = 0.;
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bool should_wake = s->started || s->ignition || user_input;
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bool should_wake = s->scene.started || s->scene.ignition || user_input;
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if (!should_wake) {
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// tap detection while display is off
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bool accel_trigger = abs(s->accel_sensor - accel_prev) > 0.2;
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bool gyro_trigger = abs(s->gyro_sensor - gyro_prev) > 0.15;
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bool accel_trigger = abs(s->scene.accel_sensor - accel_prev) > 0.2;
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bool gyro_trigger = abs(s->scene.gyro_sensor - gyro_prev) > 0.15;
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should_wake = accel_trigger && gyro_trigger;
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gyro_prev = s->gyro_sensor;
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accel_prev = (accel_prev * (accel_samples - 1) + s->accel_sensor) / accel_samples;
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gyro_prev = s->scene.gyro_sensor;
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accel_prev = (accel_prev * (accel_samples - 1) + s->scene.accel_sensor) / accel_samples;
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}
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// determine desired state
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@ -62,7 +62,7 @@ static void handle_display_state(UIState *s, bool user_input) {
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}
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static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
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if (s->started && (touch_x >= s->viz_rect.x - bdr_s)
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if (s->scene.started && (touch_x >= s->viz_rect.x - bdr_s)
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&& (s->active_app != cereal::UiLayoutState::App::SETTINGS)) {
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if (!s->scene.driver_view) {
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s->sidebar_collapsed = !s->sidebar_collapsed;
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@ -77,7 +77,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
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if (settings_btn.ptInRect(touch_x, touch_y)) {
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s->active_app = cereal::UiLayoutState::App::SETTINGS;
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} else if (home_btn.ptInRect(touch_x, touch_y)) {
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if (s->started) {
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if (s->scene.started) {
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s->active_app = cereal::UiLayoutState::App::NONE;
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s->sidebar_collapsed = true;
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} else {
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@ -139,7 +139,7 @@ int main(int argc, char* argv[]) {
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s->sound->setVolume(MIN_VOLUME);
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while (!do_exit) {
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if (!s->started) {
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if (!s->scene.started) {
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util::sleep_for(50);
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}
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double u1 = millis_since_boot();
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@ -164,7 +164,7 @@ int main(int argc, char* argv[]) {
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s->sound->setVolume(fmin(MAX_VOLUME, MIN_VOLUME + s->scene.car_state.getVEgo() / 5));
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// set brightness
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float clipped_brightness = fmin(512, (s->light_sensor*brightness_m) + brightness_b);
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float clipped_brightness = fmin(512, (s->scene.light_sensor*brightness_m) + brightness_b);
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smooth_brightness = fmin(255, clipped_brightness * 0.01 + smooth_brightness * 0.99);
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ui_set_brightness(s, (int)smooth_brightness);
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@ -169,7 +169,7 @@ static void ui_draw_world(UIState *s) {
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ui_draw_vision_lane_lines(s);
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// Draw lead indicators if openpilot is handling longitudinal
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if (s->longitudinal_control) {
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if (s->scene.longitudinal_control) {
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if (scene->lead_data[0].getStatus()) {
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draw_lead(s, 0);
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}
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@ -184,7 +184,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
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const int SET_SPEED_NA = 255;
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float maxspeed = s->scene.controls_state.getVCruise();
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const bool is_cruise_set = maxspeed != 0 && maxspeed != SET_SPEED_NA;
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if (is_cruise_set && !s->is_metric) { maxspeed *= 0.6225; }
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if (is_cruise_set && !s->scene.is_metric) { maxspeed *= 0.6225; }
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const Rect rect = {s->viz_rect.x + (bdr_s * 2), int(s->viz_rect.y + (bdr_s * 1.5)), 184, 202};
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ui_fill_rect(s->vg, rect, COLOR_BLACK_ALPHA(100), 30.);
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@ -201,11 +201,11 @@ static void ui_draw_vision_maxspeed(UIState *s) {
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}
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static void ui_draw_vision_speed(UIState *s) {
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const float speed = std::max(0.0, s->scene.car_state.getVEgo() * (s->is_metric ? 3.6 : 2.2369363));
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const float speed = std::max(0.0, s->scene.car_state.getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
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const std::string speed_str = std::to_string((int)std::nearbyint(speed));
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nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
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ui_draw_text(s, s->viz_rect.centerX(), 240, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
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ui_draw_text(s, s->viz_rect.centerX(), 320, s->is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
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ui_draw_text(s, s->viz_rect.centerX(), 320, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
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}
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static void ui_draw_vision_event(UIState *s) {
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@ -375,7 +375,7 @@ void ui_draw(UIState *s) {
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s->viz_rect.w -= sbr_w;
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}
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const bool draw_alerts = s->started && s->active_app == cereal::UiLayoutState::App::NONE;
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const bool draw_alerts = s->scene.started && s->active_app == cereal::UiLayoutState::App::NONE;
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const bool draw_vision = draw_alerts && s->vipc_client->connected;
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// GL drawing functions
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@ -96,7 +96,7 @@ RequestRepeater::RequestRepeater(QWidget* parent, QString requestURL, int period
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void RequestRepeater::sendRequest(QString requestURL, QVector<QPair<QString, QJsonValue>> payloads){
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// No network calls onroad
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if(GLWindow::ui_state.started){
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if(GLWindow::ui_state.scene.started){
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return;
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}
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if (!active || (!GLWindow::ui_state.awake && disableWithScreen)) {
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@ -160,7 +160,7 @@ void HomeWindow::setVisibility(bool offroad) {
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void HomeWindow::mousePressEvent(QMouseEvent* e) {
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UIState* ui_state = &glWindow->ui_state;
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if (GLWindow::ui_state.started && GLWindow::ui_state.scene.driver_view) {
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if (GLWindow::ui_state.scene.started && GLWindow::ui_state.scene.driver_view) {
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Params().write_db_value("IsDriverViewEnabled", "0", 1);
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return;
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}
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@ -173,7 +173,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
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}
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// Vision click
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if (ui_state->started && (e->x() >= ui_state->viz_rect.x - bdr_s)) {
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if (ui_state->scene.started && (e->x() >= ui_state->viz_rect.x - bdr_s)) {
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ui_state->sidebar_collapsed = !ui_state->sidebar_collapsed;
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}
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}
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@ -182,7 +182,7 @@ static void handle_display_state(UIState* s, bool user_input) {
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static int awake_timeout = 0; // Somehow this only gets called on program start
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awake_timeout = std::max(awake_timeout - 1, 0);
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if (user_input || s->ignition || s->started) {
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if (user_input || s->scene.ignition || s->scene.started) {
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s->awake = true;
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awake_timeout = 30 * UI_FREQ;
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} else if (awake_timeout == 0) {
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@ -240,7 +240,7 @@ void GLWindow::backlightUpdate() {
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// Update brightness
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float k = (BACKLIGHT_DT / BACKLIGHT_TS) / (1.0f + BACKLIGHT_DT / BACKLIGHT_TS);
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float clipped_brightness = std::min(1023.0f, (ui_state.light_sensor * brightness_m) + brightness_b);
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float clipped_brightness = std::min(1023.0f, (ui_state.scene.light_sensor * brightness_m) + brightness_b);
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smooth_brightness = clipped_brightness * k + smooth_brightness * (1.0f - k);
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int brightness = smooth_brightness;
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@ -257,8 +257,8 @@ void GLWindow::timerUpdate() {
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makeCurrent();
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}
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if (ui_state.started != onroad) {
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onroad = ui_state.started;
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if (ui_state.scene.started != onroad) {
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onroad = ui_state.scene.started;
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emit offroadTransition(!onroad);
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// Change timeout to 0 when onroad, this will call timerUpdate continously.
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@ -123,7 +123,7 @@ static void draw_panda_metric(UIState *s) {
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panda_message = "NO\nPANDA";
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}
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#ifdef QCOM2
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else if (s->started) {
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else if (s->scene.started) {
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panda_severity = s->scene.gpsOK ? 0 : 1;
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panda_message = util::string_format("SAT CNT\n%d", s->scene.satelliteCount);
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}
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@ -57,7 +57,7 @@ void ui_init(UIState *s) {
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s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "liveLocationKalman",
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"pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss"});
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s->started = false;
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s->scene.started = false;
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s->status = STATUS_OFFROAD;
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s->fb = std::make_unique<FrameBuffer>("ui", 0, true, &s->fb_w, &s->fb_h);
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@ -137,7 +137,7 @@ static void update_sockets(UIState *s) {
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if (sm.update(0) == 0) return;
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UIScene &scene = s->scene;
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if (s->started && sm.updated("controlsState")) {
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if (scene.started && sm.updated("controlsState")) {
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scene.controls_state = sm["controlsState"].getControlsState();
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}
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if (sm.updated("carState")) {
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@ -180,7 +180,7 @@ static void update_sockets(UIState *s) {
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if (sm.updated("pandaState")) {
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auto pandaState = sm["pandaState"].getPandaState();
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scene.pandaType = pandaState.getPandaType();
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s->ignition = pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
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scene.ignition = pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
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} else if ((s->sm->frame - s->sm->rcv_frame("pandaState")) > 5*UI_FREQ) {
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scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
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}
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@ -194,14 +194,14 @@ static void update_sockets(UIState *s) {
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scene.gpsOK = sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK();
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}
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if (sm.updated("carParams")) {
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s->longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
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scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
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}
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if (sm.updated("driverState")) {
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scene.driver_state = sm["driverState"].getDriverState();
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}
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if (sm.updated("driverMonitoringState")) {
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scene.dmonitoring_state = sm["driverMonitoringState"].getDriverMonitoringState();
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if(!scene.driver_view && !s->ignition) {
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if(!scene.driver_view && !scene.ignition) {
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read_param(&scene.driver_view, "IsDriverViewEnabled");
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}
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} else if ((sm.frame - sm.rcv_frame("driverMonitoringState")) > UI_FREQ/2) {
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@ -210,15 +210,15 @@ static void update_sockets(UIState *s) {
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if (sm.updated("sensorEvents")) {
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for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
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if (sensor.which() == cereal::SensorEventData::LIGHT) {
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s->light_sensor = sensor.getLight();
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} else if (!s->started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
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s->accel_sensor = sensor.getAcceleration().getV()[2];
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} else if (!s->started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
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s->gyro_sensor = sensor.getGyroUncalibrated().getV()[1];
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scene.light_sensor = sensor.getLight();
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} else if (!scene.started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
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scene.accel_sensor = sensor.getAcceleration().getV()[2];
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} else if (!scene.started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
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scene.gyro_sensor = sensor.getGyroUncalibrated().getV()[1];
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}
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}
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}
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s->started = scene.deviceState.getStarted() || scene.driver_view;
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scene.started = scene.deviceState.getStarted() || scene.driver_view;
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}
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static void update_alert(UIState *s) {
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@ -240,9 +240,9 @@ static void update_alert(UIState *s) {
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}
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// Handle controls timeout
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if (scene.deviceState.getStarted() && (s->sm->frame - s->started_frame) > 10 * UI_FREQ) {
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if (scene.deviceState.getStarted() && (s->sm->frame - scene.started_frame) > 10 * UI_FREQ) {
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const uint64_t cs_frame = s->sm->rcv_frame("controlsState");
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if (cs_frame < s->started_frame) {
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if (cs_frame < scene.started_frame) {
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// car is started, but controlsState hasn't been seen at all
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scene.alert_text1 = "openpilot Unavailable";
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scene.alert_text2 = "Waiting for controls to start";
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@ -264,20 +264,21 @@ static void update_alert(UIState *s) {
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static void update_params(UIState *s) {
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const uint64_t frame = s->sm->frame;
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UIScene &scene = s->scene;
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if (frame % (5*UI_FREQ) == 0) {
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read_param(&s->is_metric, "IsMetric");
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read_param(&scene.is_metric, "IsMetric");
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} else if (frame % (6*UI_FREQ) == 0) {
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s->scene.athenaStatus = NET_DISCONNECTED;
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scene.athenaStatus = NET_DISCONNECTED;
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uint64_t last_ping = 0;
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if (read_param(&last_ping, "LastAthenaPingTime") == 0) {
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s->scene.athenaStatus = nanos_since_boot() - last_ping < 70e9 ? NET_CONNECTED : NET_ERROR;
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scene.athenaStatus = nanos_since_boot() - last_ping < 70e9 ? NET_CONNECTED : NET_ERROR;
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}
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}
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}
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static void update_vision(UIState *s) {
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if (!s->vipc_client->connected && s->started) {
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if (!s->vipc_client->connected && s->scene.started) {
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if (s->vipc_client->connect(false)){
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ui_init_vision(s);
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}
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@ -296,7 +297,7 @@ static void update_vision(UIState *s) {
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}
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static void update_status(UIState *s) {
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if (s->started && s->sm->updated("controlsState")) {
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if (s->scene.started && s->sm->updated("controlsState")) {
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auto alert_status = s->scene.controls_state.getAlertStatus();
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if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
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s->status = STATUS_WARNING;
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@ -309,10 +310,10 @@ static void update_status(UIState *s) {
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// Handle onroad/offroad transition
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static bool started_prev = false;
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if (s->started != started_prev) {
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if (s->started) {
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if (s->scene.started != started_prev) {
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if (s->scene.started) {
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s->status = STATUS_DISENGAGED;
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s->started_frame = s->sm->frame;
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s->scene.started_frame = s->sm->frame;
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read_param(&s->scene.is_rhd, "IsRHD");
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s->active_app = cereal::UiLayoutState::App::NONE;
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@ -327,7 +328,7 @@ static void update_status(UIState *s) {
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s->vipc_client->connected = false;
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}
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}
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started_prev = s->started;
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started_prev = s->scene.started;
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}
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void ui_update(UIState *s) {
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@ -131,6 +131,10 @@ typedef struct UIScene {
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// lead
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vertex_data lead_vertices[2];
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float light_sensor, accel_sensor, gyro_sensor;
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bool started, ignition, is_metric, longitudinal_control;
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uint64_t started_frame;
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} UIScene;
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typedef struct UIState {
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@ -165,13 +169,6 @@ typedef struct UIState {
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// device state
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bool awake;
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float light_sensor, accel_sensor, gyro_sensor;
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bool started;
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bool ignition;
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bool is_metric;
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bool longitudinal_control;
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uint64_t started_frame;
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bool sidebar_collapsed;
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Rect video_rect, viz_rect;
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