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UI: less harsh controls unresponsive when not engaged

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old-commit-hash: 2d8578545ffdaa7c40527aaeb68819515f7f2039
This commit is contained in:
Adeeb Shihadeh
2021-12-20 23:56:25 -08:00
parent 9522a54293
commit 487f8cdeaf
1 changed files with 14 additions and 5 deletions
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selfdrive/ui/ui.h
+14 -5
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@@ -32,29 +32,38 @@ struct Alert {
QString type;
cereal::ControlsState::AlertSize size;
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();
if (sm.updated("controlsState")) {
const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
cs.getAlertType().cStr(), cs.getAlertSize(),
cs.getAlertSound()};
} else if ((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 (sm.rcv_frame("controlsState") < started_frame) {
// car is started, but controlsState hasn't been seen at all
return {"openpilot Unavailable", "Waiting for controls to start",
"controlsWaiting", cereal::ControlsState::AlertSize::MID,
AudibleAlert::NONE};
} else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
} else if (controls_missing > CONTROLS_TIMEOUT) {
// car is started, but controls is lagging or died
return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
"controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
AudibleAlert::WARNING_IMMEDIATE};
if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
"controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
AudibleAlert::WARNING_IMMEDIATE};
} else {
return {"Controls Unresponsive", "Reboot Device",
"controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
AudibleAlert::NONE};
}
}
}
return {};