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ui.cc: fix update_lead segfault (#20351) 

* fix update_lead crash

* Check for empty list in update_lead

* use rcv_frame

* update 2 leads in update_leads

* use std::optional
albatross
Dean Lee 2021-03-15 20:53:22 +08:00 committed by GitHub
parent d9c1561d37
commit fb5873bb6d
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1 changed files with 14 additions and 12 deletions
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26
selfdrive/ui/ui.cc
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@ -82,14 +82,15 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line
return max_idx;
}
static void update_lead(UIState *s, const cereal::RadarState::Reader &radar_state,
const cereal::ModelDataV2::XYZTData::Reader &line, int idx) {
auto &lead_data = s->scene.lead_data[idx];
lead_data = (idx == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
if (lead_data.getStatus()) {
const int path_idx = get_path_length_idx(line, lead_data.getDRel());
// negative because radarState uses left positive convention
calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), line.getZ()[path_idx] + 1.22, &s->scene.lead_vertices[idx]);
static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, std::optional<cereal::ModelDataV2::XYZTData::Reader> line) {
for (int i = 0; i < 2; ++i) {
auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
if (lead_data.getStatus()) {
float z = line ? (*line).getZ()[get_path_length_idx(*line, lead_data.getDRel())] : 0.0;
// negative because radarState uses left positive convention
calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
}
s->scene.lead_data[i] = lead_data;
}
}
@ -151,10 +152,11 @@ static void update_sockets(UIState *s) {
scene.car_state = sm["carState"].getCarState();
}
if (sm.updated("radarState")) {
auto radar_state = sm["radarState"].getRadarState();
const auto line = sm["modelV2"].getModelV2().getPosition();
update_lead(s, radar_state, line, 0);
update_lead(s, radar_state, line, 1);
std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
if (sm.rcv_frame("modelV2") > 0) {
line = sm["modelV2"].getModelV2().getPosition();
}
update_leads(s, sm["radarState"].getRadarState(), line);
}
if (sm.updated("liveCalibration")) {
scene.world_objects_visible = true;