ui: move struct Alert into OnroadAlerts (#32024)

* move Alert into OnroadAlerts

* multi-lang
old-commit-hash: fad9edf344ad27775716a087580e78230ad5e6dd

selfdrive/ui/qt/onroad.cc

@@ -73,18 +73,16 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-  QColor bgColor = bg_colors[s.status];
-  Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
-  alerts->updateAlert(alert);
-
   if (s.scene.map_on_left) {
     split->setDirection(QBoxLayout::LeftToRight);
   } else {
     split->setDirection(QBoxLayout::RightToLeft);
   }
 
+  alerts->updateState(s);
   nvg->updateState(s);
 
+  QColor bgColor = bg_colors[s.status];
   if (bg != bgColor) {
     // repaint border
     bg = bgColor;
@@ -128,7 +126,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
     }
   }
 #endif
-  alerts->updateAlert({});
+  alerts->clear();
 }
 
 void OnroadWindow::primeChanged(bool prime) {
@@ -152,13 +150,56 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
 // ***** onroad widgets *****
 
 // OnroadAlerts
-void OnroadAlerts::updateAlert(const Alert &a) {
+
+void OnroadAlerts::updateState(const UIState &s) {
+  Alert a = getAlert(*(s.sm), s.scene.started_frame);
   if (!alert.equal(a)) {
     alert = a;
     update();
   }
 }
 
+void OnroadAlerts::clear() {
+  alert = {};
+  update();
+}
+
+OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
+  const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
+  const uint64_t controls_frame = sm.rcv_frame("controlsState");
+
+  Alert a = {};
+  if (controls_frame >= started_frame) {  // Don't get old alert.
+    a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+         cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
+  }
+
+  if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
+    const int CONTROLS_TIMEOUT = 5;
+    const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
+
+    // Handle controls timeout
+    if (controls_frame < started_frame) {
+      // car is started, but controlsState hasn't been seen at all
+      a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
+           "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+           cereal::ControlsState::AlertStatus::NORMAL};
+    } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
+      // car is started, but controls is lagging or died
+      if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
+        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
+             "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+             cereal::ControlsState::AlertStatus::CRITICAL};
+      } else {
+        a = {tr("Controls Unresponsive"), tr("Reboot Device"),
+             "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
+             cereal::ControlsState::AlertStatus::NORMAL};
+      }
+    }
+  }
+  return a;
+}
+
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
   if (alert.size == cereal::ControlsState::AlertSize::NONE) {
     return;

selfdrive/ui/qt/onroad.h

@@ -21,12 +21,31 @@ class OnroadAlerts : public QWidget {
 
 public:
   OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
-  void updateAlert(const Alert &a);
+  void updateState(const UIState &s);
+  void clear();
 
 protected:
-  void paintEvent(QPaintEvent*) override;
+  struct Alert {
+    QString text1;
+    QString text2;
+    QString type;
+    cereal::ControlsState::AlertSize size;
+    cereal::ControlsState::AlertStatus status;
+
+    bool equal(const Alert &other) const {
+      return text1 == other.text1 && other.text2 == other.text2 && type == other.type;
+    }
+  };
+
+  const QMap<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
+    {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
+    {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
+    {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
+  };
+
+  void paintEvent(QPaintEvent*) override;
+  OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame);
 
-private:
   QColor bg;
   Alert alert = {};
 };

selfdrive/ui/translations/main_ar.ts

@@ -492,6 +492,29 @@
         <translation> تنبيه</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_de.ts

@@ -487,6 +487,29 @@
         <translation> HINWEIS</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_fr.ts

@@ -488,6 +488,29 @@
         <translation> ALERTE</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_ja.ts

@@ -486,6 +486,29 @@
         <translation> 警告</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_ko.ts

@@ -487,6 +487,29 @@
         <translation> 알림</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_pt-BR.ts

@@ -488,6 +488,29 @@
         <translation> ALERTA</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_th.ts

@@ -487,6 +487,29 @@
         <translation> การแจ้งเตือน</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_tr.ts

@@ -486,6 +486,29 @@
         <translation> UYARI</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -487,6 +487,29 @@
         <translation> 警报</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -487,6 +487,29 @@
         <translation> 提醒</translation>
     </message>
 </context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

selfdrive/ui/ui.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include <map>
 #include <memory>
 #include <string>
 
@@ -22,7 +21,6 @@ const int UI_HEADER_HEIGHT = 420;
 
 const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
-typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
@@ -47,59 +45,6 @@ constexpr vec3 default_face_kpts_3d[] = {
   {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
 };
 
-struct Alert {
-  QString text1;
-  QString text2;
-  QString type;
-  cereal::ControlsState::AlertSize size;
-  cereal::ControlsState::AlertStatus status;
-  AudibleAlert sound;
-
-  bool equal(const Alert &a2) {
-    return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound;
-  }
-
-  static Alert get(const SubMaster &sm, uint64_t started_frame) {
-    const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-    const uint64_t controls_frame = sm.rcv_frame("controlsState");
-
-    Alert alert = {};
-    if (controls_frame >= started_frame) {  // Don't get old alert.
-      alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-               cs.getAlertType().cStr(), cs.getAlertSize(),
-               cs.getAlertStatus(),
-               cs.getAlertSound()};
-    }
-
-    if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
-      const int CONTROLS_TIMEOUT = 5;
-      const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
-
-      // Handle controls timeout
-      if (controls_frame < started_frame) {
-        // car is started, but controlsState hasn't been seen at all
-        alert = {"openpilot Unavailable", "Waiting for controls to start",
-                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-                 cereal::ControlsState::AlertStatus::NORMAL,
-                 AudibleAlert::NONE};
-      } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
-        // car is started, but controls is lagging or died
-        if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
-          alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
-                   "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-                   cereal::ControlsState::AlertStatus::CRITICAL,
-                   AudibleAlert::WARNING_IMMEDIATE};
-        } else {
-          alert = {"Controls Unresponsive", "Reboot Device",
-                   "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
-                   cereal::ControlsState::AlertStatus::NORMAL,
-                   AudibleAlert::NONE};
-        }
-      }
-    }
-    return alert;
-  }
-};
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,
@@ -123,11 +68,6 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 };
 
-static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
-  {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
-  {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
-  {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
-};
 
 typedef struct UIScene {
   bool calibration_valid = false;