From 54b59783cb3ad0e3d8c3c59bfa723ba41e09352a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 5 Feb 2021 14:15:02 -0800
Subject: [PATCH] show sat count in sidebar (#20028)

* show sat count in sidebar

* fix

* revert that

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/ui/sidebar.cc |  7 +++++++
 selfdrive/ui/ui.cc      | 13 ++++++++++++-
 selfdrive/ui/ui.hpp     |  4 ++++
 3 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/sidebar.cc b/selfdrive/ui/sidebar.cc
index 79ba0d5f3..b2dc48fea 100644
--- a/selfdrive/ui/sidebar.cc
+++ b/selfdrive/ui/sidebar.cc
@@ -122,6 +122,13 @@ static void draw_panda_metric(UIState *s) {
     panda_severity = 2;
     panda_message = "NO\nPANDA";
   }
+#ifdef QCOM2
+  else if (s->started) {
+    panda_severity = s->scene.cnoAvg > 30 ? 0 : 1;
+    panda_message = util::string_format("SAT CNT\n%d", s->scene.satelliteCount);
+  }
+#endif
+
   draw_metric(s, NULL, NULL, panda_severity, panda_y_offset, panda_message.c_str());
 }
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ba729b0b8..450fe1517 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -41,7 +41,7 @@ static void ui_init_vision(UIState *s) {
 
 void ui_init(UIState *s) {
   s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal", "frame",
-                         "health", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState"});
+                         "health", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss"});
 
   s->started = false;
   s->status = STATUS_OFFROAD;
@@ -161,6 +161,17 @@ static void update_sockets(UIState *s) {
   } else if ((s->sm->frame - s->sm->rcv_frame("health")) > 5*UI_FREQ) {
     scene.pandaType = cereal::HealthData::PandaType::UNKNOWN;
   }
+  if (sm.updated("ubloxGnss")) {
+    auto data = sm["ubloxGnss"].getUbloxGnss();
+    if (data.which() == cereal::UbloxGnss::MEASUREMENT_REPORT) {
+      auto measurements = data.getMeasurementReport().getMeasurements();
+      for (auto m : measurements) {
+        scene.cnoAvg += m.getCno();
+      }
+      scene.cnoAvg /= measurements.size();
+      scene.satelliteCount = data.getMeasurementReport().getNumMeas();
+    }
+  }
   if (sm.updated("carParams")) {
     s->longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 73dd7e1da..cd3313980 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -125,6 +125,10 @@ typedef struct UIScene {
   cereal::DriverState::Reader driver_state;
   cereal::DriverMonitoringState::Reader dmonitoring_state;
 
+  // gps
+  int satelliteCount;
+  int cnoAvg;
+
   // modelV2
   float lane_line_probs[4];
   float road_edge_stds[2];