Refactor alert blinking (#19583)

* add function get_alert_alpha()

* continue simplify

* reset alpha to 1.0 if blink_rate is 0

* review

* sine wave

* rebase master

* use time

* use cos
old-commit-hash: de309b156d2e9b9c2b771ccdd84915708f64338a

selfdrive/ui/paint.cc

@@ -5,6 +5,7 @@
 #include <cmath>
 #include <iostream>
 #include "common/util.h"
+#include "common/timing.h"
 #include <algorithm>
 
 #define NANOVG_GLES3_IMPLEMENTATION
@@ -344,6 +345,10 @@ static void ui_draw_vision_footer(UIState *s) {
   ui_draw_vision_face(s);
 }
 
+static float get_alert_alpha(float blink_rate) {
+  return 0.375 * cos((millis_since_boot() / 1000) * 2 * M_PI * blink_rate) + 0.625;
+}
+
 static void ui_draw_vision_alert(UIState *s) {
   static std::map<cereal::ControlsState::AlertSize, const int> alert_size_map = {
       {cereal::ControlsState::AlertSize::SMALL, 241},
@@ -353,7 +358,7 @@ static void ui_draw_vision_alert(UIState *s) {
   bool longAlert1 = scene->alert_text1.length() > 15;
 
   NVGcolor color = bg_colors[s->status];
-  color.a *= s->alert_blinking_alpha;
+  color.a *= get_alert_alpha(scene->alert_blinking_rate);
   int alr_s = alert_size_map[scene->alert_size];
 
   const int alr_x = scene->viz_rect.x - bdr_s;

selfdrive/ui/ui.cc

@@ -151,6 +151,7 @@ void update_sockets(UIState *s) {
     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;
@@ -159,24 +160,6 @@ void update_sockets(UIState *s) {
     } else {
       s->status = scene.controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
-
-    float alert_blinkingrate = scene.controls_state.getAlertBlinkingRate();
-    if (alert_blinkingrate > 0.) {
-      if (s->alert_blinked) {
-        if (s->alert_blinking_alpha > 0.0 && s->alert_blinking_alpha < 1.0) {
-          s->alert_blinking_alpha += (0.05*alert_blinkingrate);
-        } else {
-          s->alert_blinked = false;
-        }
-      } else {
-        if (s->alert_blinking_alpha > 0.25) {
-          s->alert_blinking_alpha -= (0.05*alert_blinkingrate);
-        } else {
-          s->alert_blinking_alpha += 0.25;
-          s->alert_blinked = true;
-        }
-      }
-    }
   }
   if (sm.updated("radarState")) {
     auto data = sm["radarState"].getRadarState();
@@ -289,8 +272,6 @@ void ui_update(UIState *s) {
 
     s->active_app = cereal::UiLayoutState::App::NONE;
     s->scene.sidebar_collapsed = true;
-    s->alert_blinked = false;
-    s->alert_blinking_alpha = 1.0;
     s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
   }
 

selfdrive/ui/ui.hpp

@@ -115,6 +115,7 @@ typedef struct UIScene {
   std::string alert_text1;
   std::string alert_text2;
   std::string alert_type;
+  float alert_blinking_rate;
   cereal::ControlsState::AlertSize alert_size;
 
   cereal::HealthData::HwType hwType;
@@ -187,9 +188,6 @@ typedef struct UIState {
   bool longitudinal_control;
   uint64_t started_frame;
 
-  bool alert_blinked;
-  float alert_blinking_alpha;
-
   Rect video_rect;
 } UIState;