mirror of
https://github.com/firestar5683/StarPilot.git
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UI: move c-capnp to c++ (#1455)
* ui:move c-capnp to c++ * move Subsockets into vector * rename reader to msg include cereal/gen/cpp/log.capnp * fix some errors restore some changes restore previous * cleanup codes cleanup codes * remove unused variable alert_size * handle capnproto's enum in a robust way add break to default * switch -> std:map * use static std::map instead of switch do cleanup * fix wrong variable name * use FlatArrayMessageReader instead of custom MessageReader remove messagehelp.h Revert "use FlatArrayMessageReader instead of custom MessageReader" This reverts commit 57d8b6b1e2b4bad908246f35eb068535b1627167. use FlatArrayMessageReader instead of custom MessageReader add header file remove capnp_c lib,add kj lib include serialize.h fix remove duplicate includes old-commit-hash: ee725534bb1ae2335705562e9f1eb176e5cd91fd
This commit is contained in:
Dean Lee
+152
-238
@@ -1,3 +1,4 @@
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#include "ui.hpp"
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdbool.h>
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@@ -5,9 +6,8 @@
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#include <assert.h>
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#include <sys/mman.h>
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#include <sys/resource.h>
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#include <capnp/serialize.h>
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#include <czmq.h>
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#include "common/util.h"
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#include "common/timing.h"
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#include "common/swaglog.h"
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@@ -15,9 +15,6 @@
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#include "common/visionimg.h"
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#include "common/params.h"
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#include "ui.hpp"
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#include "sound.hpp"
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static int last_brightness = -1;
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static void set_brightness(UIState *s, int brightness) {
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if (last_brightness != brightness && (s->awake || brightness == 0)) {
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@@ -69,35 +66,21 @@ static void set_awake(UIState *s, bool awake) {
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}
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static void update_offroad_layout_state(UIState *s) {
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struct capn rc;
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capn_init_malloc(&rc);
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struct capn_segment *cs = capn_root(&rc).seg;
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cereal_UiLayoutState_ptr layoutp = cereal_new_UiLayoutState(cs);
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struct cereal_UiLayoutState layoutd = {
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.activeApp = (cereal_UiLayoutState_App)s->active_app,
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.sidebarCollapsed = s->scene.uilayout_sidebarcollapsed,
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};
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cereal_write_UiLayoutState(&layoutd, layoutp);
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LOGD("setting active app to %d with sidebar %d", layoutd.activeApp, layoutd.sidebarCollapsed);
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cereal_Event_ptr eventp = cereal_new_Event(cs);
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struct cereal_Event event = {
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.logMonoTime = nanos_since_boot(),
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.which = cereal_Event_uiLayoutState,
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.uiLayoutState = layoutp,
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};
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cereal_write_Event(&event, eventp);
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capn_setp(capn_root(&rc), 0, eventp.p);
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uint8_t buf[4096];
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ssize_t rs = capn_write_mem(&rc, buf, sizeof(buf), 0);
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s->offroad_sock->send((char*)buf, rs);
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capn_free(&rc);
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capnp::MallocMessageBuilder msg;
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auto event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto layout = event.initUiLayoutState();
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layout.setActiveApp(s->active_app);
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layout.setSidebarCollapsed(s->scene.uilayout_sidebarcollapsed);
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auto words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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s->offroad_sock->send((char*)bytes.begin(), bytes.size());
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LOGD("setting active app to %d with sidebar %d", (int)s->active_app, s->scene.uilayout_sidebarcollapsed);
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}
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static void navigate_to_settings(UIState *s) {
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#ifdef QCOM
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s->active_app = cereal_UiLayoutState_App_settings;
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s->active_app = cereal::UiLayoutState::App::SETTINGS;
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update_offroad_layout_state(s);
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#else
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// computer UI doesn't have offroad settings
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@@ -107,9 +90,9 @@ static void navigate_to_settings(UIState *s) {
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static void navigate_to_home(UIState *s) {
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#ifdef QCOM
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if (s->started) {
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s->active_app = cereal_UiLayoutState_App_none;
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s->active_app = cereal::UiLayoutState::App::NONE;
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} else {
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s->active_app = cereal_UiLayoutState_App_home;
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s->active_app = cereal::UiLayoutState::App::HOME;
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}
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update_offroad_layout_state(s);
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#else
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@@ -140,7 +123,7 @@ static void handle_driver_view_touch(UIState *s, int touch_x, int touch_y) {
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static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
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if (s->started && (touch_x >= s->scene.ui_viz_rx - bdr_s)
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&& (s->active_app != cereal_UiLayoutState_App_settings)) {
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&& (s->active_app != cereal::UiLayoutState::App::SETTINGS)) {
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if (!s->scene.frontview) {
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s->scene.uilayout_sidebarcollapsed = !s->scene.uilayout_sidebarcollapsed;
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} else {
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@@ -339,19 +322,15 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
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s->limit_set_speed_timeout = UI_FREQ;
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}
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static PathData read_path(cereal_ModelData_PathData_ptr pathp) {
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static PathData read_path(cereal::ModelData::PathData::Reader pathp) {
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PathData ret = {0};
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struct cereal_ModelData_PathData pathd;
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cereal_read_ModelData_PathData(&pathd, pathp);
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ret.prob = pathp.getProb();
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ret.std = pathp.getStd();
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ret.prob = pathd.prob;
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ret.std = pathd.std;
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capn_list32 polyp = pathd.poly;
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capn_resolve(&polyp.p);
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auto polyp = pathp.getPoly();
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for (int i = 0; i < POLYFIT_DEGREE; i++) {
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ret.poly[i] = capn_to_f32(capn_get32(polyp, i));
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ret.poly[i] = polyp[i];
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}
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// Compute points locations
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@@ -362,20 +341,16 @@ static PathData read_path(cereal_ModelData_PathData_ptr pathp) {
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return ret;
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}
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static ModelData read_model(cereal_ModelData_ptr modelp) {
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struct cereal_ModelData modeld;
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cereal_read_ModelData(&modeld, modelp);
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static ModelData read_model(cereal::ModelData::Reader model) {
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ModelData d = {0};
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d.path = read_path(modeld.path);
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d.left_lane = read_path(modeld.leftLane);
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d.right_lane = read_path(modeld.rightLane);
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d.path = read_path(model.getPath());
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d.left_lane = read_path(model.getLeftLane());
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d.right_lane = read_path(model.getRightLane());
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struct cereal_ModelData_LeadData leadd;
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cereal_read_ModelData_LeadData(&leadd, modeld.lead);
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auto leadd = model.getLead();
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d.lead = (LeadData){
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.dist = leadd.dist, .prob = leadd.prob, .std = leadd.std,
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.dist = leadd.getDist(), .prob = leadd.getProb(), .std = leadd.getStd(),
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};
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return d;
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@@ -387,207 +362,150 @@ static void update_status(UIState *s, int status) {
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}
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}
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void handle_message(UIState *s, Message * msg) {
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struct capn ctx;
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capn_init_mem(&ctx, (uint8_t*)msg->getData(), msg->getSize(), 0);
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cereal_Event_ptr eventp;
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eventp.p = capn_getp(capn_root(&ctx), 0, 1);
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struct cereal_Event eventd;
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cereal_read_Event(&eventd, eventp);
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if (eventd.which == cereal_Event_controlsState && s->started) {
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struct cereal_ControlsState datad;
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cereal_read_ControlsState(&datad, eventd.controlsState);
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void handle_message(UIState *s, Message* msg) {
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auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
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memcpy(amsg.begin(), msg->getData(), msg->getSize());
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capnp::FlatArrayMessageReader cmsg(amsg);
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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auto which = event.which();
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UIScene &scene = s->scene;
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if (which == cereal::Event::CONTROLS_STATE && s->started) {
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auto data = event.getControlsState();
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s->controls_timeout = 1 * UI_FREQ;
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s->scene.frontview = datad.rearViewCam;
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if (!s->scene.frontview){s->controls_seen = true;}
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scene.frontview = data.getRearViewCam();
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if (!scene.frontview){ s->controls_seen = true; }
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if (datad.vCruise != s->scene.v_cruise) {
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s->scene.v_cruise_update_ts = eventd.logMonoTime;
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if (data.getVCruise() != scene.v_cruise) {
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scene.v_cruise_update_ts = event.getLogMonoTime();
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}
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s->scene.v_cruise = datad.vCruise;
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s->scene.v_ego = datad.vEgo;
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s->scene.curvature = datad.curvature;
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s->scene.engaged = datad.enabled;
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s->scene.engageable = datad.engageable;
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s->scene.gps_planner_active = datad.gpsPlannerActive;
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s->scene.monitoring_active = datad.driverMonitoringOn;
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scene.v_cruise = data.getVCruise();
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scene.v_ego = data.getVEgo();
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scene.curvature = data.getCurvature();
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scene.engaged = data.getEnabled();
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scene.engageable = data.getEngageable();
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scene.gps_planner_active = data.getGpsPlannerActive();
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scene.monitoring_active = data.getDriverMonitoringOn();
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s->scene.decel_for_model = datad.decelForModel;
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if (datad.alertSound != cereal_CarControl_HUDControl_AudibleAlert_none && datad.alertSound != s->alert_sound) {
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if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
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scene.decel_for_model = data.getDecelForModel();
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auto alert_sound = data.getAlertSound();
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const auto sound_none = cereal::CarControl::HUDControl::AudibleAlert::NONE;
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if (alert_sound != s->alert_sound){
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if (s->alert_sound != sound_none){
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stop_alert_sound(s->alert_sound);
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}
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play_alert_sound(datad.alertSound);
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s->alert_sound = datad.alertSound;
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snprintf(s->alert_type, sizeof(s->alert_type), "%s", datad.alertType.str);
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} else if ((!datad.alertSound || datad.alertSound == cereal_CarControl_HUDControl_AudibleAlert_none)
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&& s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
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stop_alert_sound(s->alert_sound);
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s->alert_type[0] = '\0';
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s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
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if (alert_sound != sound_none){
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play_alert_sound(alert_sound);
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s->alert_type = data.getAlertType();
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}
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s->alert_sound = alert_sound;
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}
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if (datad.alertText1.str) {
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snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", datad.alertText1.str);
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} else {
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s->scene.alert_text1[0] = '\0';
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}
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if (datad.alertText2.str) {
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snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", datad.alertText2.str);
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} else {
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s->scene.alert_text2[0] = '\0';
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}
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s->scene.alert_ts = eventd.logMonoTime;
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s->scene.alert_size = datad.alertSize;
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if (datad.alertSize == cereal_ControlsState_AlertSize_none) {
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s->alert_size = ALERTSIZE_NONE;
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} else if (datad.alertSize == cereal_ControlsState_AlertSize_small) {
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s->alert_size = ALERTSIZE_SMALL;
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} else if (datad.alertSize == cereal_ControlsState_AlertSize_mid) {
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s->alert_size = ALERTSIZE_MID;
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} else if (datad.alertSize == cereal_ControlsState_AlertSize_full) {
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s->alert_size = ALERTSIZE_FULL;
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}
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if (datad.alertStatus == cereal_ControlsState_AlertStatus_userPrompt) {
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scene.alert_text1 = data.getAlertText1();
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scene.alert_text2 = data.getAlertText2();
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scene.alert_ts = event.getLogMonoTime();
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scene.alert_size = data.getAlertSize();
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auto alertStatus = data.getAlertStatus();
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if (alertStatus == cereal::ControlsState::AlertStatus::USER_PROMPT) {
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update_status(s, STATUS_WARNING);
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} else if (datad.alertStatus == cereal_ControlsState_AlertStatus_critical) {
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} else if (alertStatus == cereal::ControlsState::AlertStatus::CRITICAL) {
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update_status(s, STATUS_ALERT);
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} else if (datad.enabled) {
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update_status(s, STATUS_ENGAGED);
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} else {
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update_status(s, STATUS_DISENGAGED);
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} else{
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update_status(s, scene.engaged ? STATUS_ENGAGED : STATUS_DISENGAGED);
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}
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s->scene.alert_blinkingrate = datad.alertBlinkingRate;
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if (datad.alertBlinkingRate > 0.) {
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scene.alert_blinkingrate = data.getAlertBlinkingRate();
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if (scene.alert_blinkingrate > 0.) {
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if (s->alert_blinked) {
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if (s->alert_blinking_alpha > 0.0 && s->alert_blinking_alpha < 1.0) {
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s->alert_blinking_alpha += (0.05*datad.alertBlinkingRate);
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s->alert_blinking_alpha += (0.05*scene.alert_blinkingrate);
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} else {
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s->alert_blinked = false;
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}
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} else {
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if (s->alert_blinking_alpha > 0.25) {
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s->alert_blinking_alpha -= (0.05*datad.alertBlinkingRate);
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s->alert_blinking_alpha -= (0.05*scene.alert_blinkingrate);
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} else {
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s->alert_blinking_alpha += 0.25;
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s->alert_blinked = true;
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}
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}
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}
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} else if (eventd.which == cereal_Event_radarState) {
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struct cereal_RadarState datad;
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cereal_read_RadarState(&datad, eventd.radarState);
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struct cereal_RadarState_LeadData leaddatad;
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cereal_read_RadarState_LeadData(&leaddatad, datad.leadOne);
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s->scene.lead_status = leaddatad.status;
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s->scene.lead_d_rel = leaddatad.dRel;
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s->scene.lead_y_rel = leaddatad.yRel;
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s->scene.lead_v_rel = leaddatad.vRel;
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cereal_read_RadarState_LeadData(&leaddatad, datad.leadTwo);
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s->scene.lead_status2 = leaddatad.status;
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s->scene.lead_d_rel2 = leaddatad.dRel;
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s->scene.lead_y_rel2 = leaddatad.yRel;
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s->scene.lead_v_rel2 = leaddatad.vRel;
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s->livempc_or_radarstate_changed = true;
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} else if (eventd.which == cereal_Event_liveCalibration) {
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s->scene.world_objects_visible = true;
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struct cereal_LiveCalibrationData datad;
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cereal_read_LiveCalibrationData(&datad, eventd.liveCalibration);
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} else if (which == cereal::Event::RADAR_STATE) {
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auto data = event.getRadarState();
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auto leaddatad = data.getLeadOne();
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scene.lead_status = leaddatad.getStatus();
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scene.lead_d_rel = leaddatad.getDRel();
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scene.lead_y_rel = leaddatad.getYRel();
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scene.lead_v_rel = leaddatad.getVRel();
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auto leaddatad2 = data.getLeadTwo();
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scene.lead_status2 = leaddatad2.getStatus();
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scene.lead_d_rel2 = leaddatad2.getDRel();
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scene.lead_y_rel2 = leaddatad2.getYRel();
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scene.lead_v_rel2 = leaddatad2.getVRel();
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capn_list32 extrinsicl = datad.extrinsicMatrix;
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capn_resolve(&extrinsicl.p); // is this a bug?
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s->livempc_or_radarstate_changed = true;
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} else if (which == cereal::Event::LIVE_CALIBRATION) {
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scene.world_objects_visible = true;
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auto extrinsicl = event.getLiveCalibration().getExtrinsicMatrix();
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for (int i = 0; i < 3 * 4; i++) {
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s->scene.extrinsic_matrix.v[i] =
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capn_to_f32(capn_get32(extrinsicl, i));
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scene.extrinsic_matrix.v[i] = extrinsicl[i];
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}
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} else if (eventd.which == cereal_Event_model) {
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s->scene.model = read_model(eventd.model);
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} else if (which == cereal::Event::MODEL) {
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scene.model = read_model(event.getModel());
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s->model_changed = true;
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} else if (eventd.which == cereal_Event_liveMpc) {
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struct cereal_LiveMpcData datad;
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cereal_read_LiveMpcData(&datad, eventd.liveMpc);
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capn_list32 x_list = datad.x;
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capn_resolve(&x_list.p);
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} else if (which == cereal::Event::LIVE_MPC) {
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auto data = event.getLiveMpc();
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auto x_list = data.getX();
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auto y_list = data.getY();
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for (int i = 0; i < 50; i++){
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s->scene.mpc_x[i] = capn_to_f32(capn_get32(x_list, i));
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}
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capn_list32 y_list = datad.y;
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capn_resolve(&y_list.p);
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for (int i = 0; i < 50; i++){
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s->scene.mpc_y[i] = capn_to_f32(capn_get32(y_list, i));
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scene.mpc_x[i] = x_list[i];
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scene.mpc_y[i] = y_list[i];
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}
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s->livempc_or_radarstate_changed = true;
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} else if (eventd.which == cereal_Event_uiLayoutState) {
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struct cereal_UiLayoutState datad;
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cereal_read_UiLayoutState(&datad, eventd.uiLayoutState);
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s->active_app = datad.activeApp;
|
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s->scene.uilayout_sidebarcollapsed = datad.sidebarCollapsed;
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if (datad.mockEngaged != s->scene.uilayout_mockengaged) {
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s->scene.uilayout_mockengaged = datad.mockEngaged;
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} else if (which == cereal::Event::UI_LAYOUT_STATE) {
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auto data = event.getUiLayoutState();
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s->active_app = data.getActiveApp();
|
||||
scene.uilayout_sidebarcollapsed = data.getSidebarCollapsed();
|
||||
if (data.getMockEngaged() != scene.uilayout_mockengaged) {
|
||||
scene.uilayout_mockengaged = data.getMockEngaged();
|
||||
}
|
||||
} else if (eventd.which == cereal_Event_liveMapData) {
|
||||
struct cereal_LiveMapData datad;
|
||||
cereal_read_LiveMapData(&datad, eventd.liveMapData);
|
||||
s->scene.map_valid = datad.mapValid;
|
||||
} else if (eventd.which == cereal_Event_thermal) {
|
||||
struct cereal_ThermalData datad;
|
||||
cereal_read_ThermalData(&datad, eventd.thermal);
|
||||
|
||||
s->scene.networkType = datad.networkType;
|
||||
s->scene.networkStrength = datad.networkStrength;
|
||||
s->scene.batteryPercent = datad.batteryPercent;
|
||||
snprintf(s->scene.batteryStatus, sizeof(s->scene.batteryStatus), "%s", datad.batteryStatus.str);
|
||||
s->scene.freeSpace = datad.freeSpace;
|
||||
s->scene.thermalStatus = datad.thermalStatus;
|
||||
s->scene.paTemp = datad.pa0;
|
||||
|
||||
s->thermal_started = datad.started;
|
||||
|
||||
} else if (eventd.which == cereal_Event_ubloxGnss) {
|
||||
struct cereal_UbloxGnss datad;
|
||||
cereal_read_UbloxGnss(&datad, eventd.ubloxGnss);
|
||||
if (datad.which == cereal_UbloxGnss_measurementReport) {
|
||||
struct cereal_UbloxGnss_MeasurementReport reportdatad;
|
||||
cereal_read_UbloxGnss_MeasurementReport(&reportdatad, datad.measurementReport);
|
||||
s->scene.satelliteCount = reportdatad.numMeas;
|
||||
} else if (which == cereal::Event::LIVE_MAP_DATA) {
|
||||
scene.map_valid = event.getLiveMapData().getMapValid();
|
||||
} else if (which == cereal::Event::THERMAL) {
|
||||
auto data = event.getThermal();
|
||||
|
||||
scene.networkType = data.getNetworkType();
|
||||
scene.networkStrength = data.getNetworkStrength();
|
||||
scene.batteryPercent = data.getBatteryPercent();
|
||||
scene.batteryCharging = data.getBatteryStatus() == "Charging";
|
||||
scene.freeSpace = data.getFreeSpace();
|
||||
scene.thermalStatus = data.getThermalStatus();
|
||||
scene.paTemp = data.getPa0();
|
||||
|
||||
s->thermal_started = data.getStarted();
|
||||
} else if (which == cereal::Event::UBLOX_GNSS) {
|
||||
auto data = event.getUbloxGnss();
|
||||
if (data.which() == cereal::UbloxGnss::MEASUREMENT_REPORT) {
|
||||
scene.satelliteCount = data.getMeasurementReport().getNumMeas();
|
||||
}
|
||||
} else if (eventd.which == cereal_Event_health) {
|
||||
struct cereal_HealthData datad;
|
||||
cereal_read_HealthData(&datad, eventd.health);
|
||||
|
||||
s->scene.hwType = datad.hwType;
|
||||
} else if (which == cereal::Event::HEALTH) {
|
||||
scene.hwType = event.getHealth().getHwType();
|
||||
s->hardware_timeout = 5*30; // 5 seconds at 30 fps
|
||||
} else if (eventd.which == cereal_Event_driverState) {
|
||||
struct cereal_DriverState datad;
|
||||
cereal_read_DriverState(&datad, eventd.driverState);
|
||||
|
||||
s->scene.face_prob = datad.faceProb;
|
||||
|
||||
capn_list32 fxy_list = datad.facePosition;
|
||||
capn_resolve(&fxy_list.p);
|
||||
s->scene.face_x = capn_to_f32(capn_get32(fxy_list, 0));
|
||||
s->scene.face_y = capn_to_f32(capn_get32(fxy_list, 1));
|
||||
} else if (eventd.which == cereal_Event_dMonitoringState) {
|
||||
struct cereal_DMonitoringState datad;
|
||||
cereal_read_DMonitoringState(&datad, eventd.dMonitoringState);
|
||||
|
||||
s->scene.is_rhd = datad.isRHD;
|
||||
s->scene.awareness_status = datad.awarenessStatus;
|
||||
s->preview_started = datad.isPreview;
|
||||
} else if (which == cereal::Event::DRIVER_STATE) {
|
||||
auto data = event.getDriverState();
|
||||
scene.face_prob = data.getFaceProb();
|
||||
auto fxy_list = data.getFacePosition();
|
||||
scene.face_x = fxy_list[0];
|
||||
scene.face_y = fxy_list[1];
|
||||
} else if (which == cereal::Event::D_MONITORING_STATE) {
|
||||
auto data = event.getDMonitoringState();
|
||||
scene.is_rhd = data.getIsRHD();
|
||||
scene.awareness_status = data.getAwarenessStatus();
|
||||
s->preview_started = data.getIsPreview();
|
||||
}
|
||||
|
||||
s->started = s->thermal_started || s->preview_started ;
|
||||
@@ -598,17 +516,15 @@ void handle_message(UIState *s, Message * msg) {
|
||||
s->alert_sound_timeout = 0;
|
||||
s->vision_seen = false;
|
||||
s->controls_seen = false;
|
||||
s->active_app = cereal_UiLayoutState_App_home;
|
||||
s->active_app = cereal::UiLayoutState::App::HOME;
|
||||
update_offroad_layout_state(s);
|
||||
}
|
||||
} else if (s->status == STATUS_STOPPED) {
|
||||
update_status(s, STATUS_DISENGAGED);
|
||||
|
||||
s->active_app = cereal_UiLayoutState_App_none;
|
||||
s->active_app = cereal::UiLayoutState::App::NONE;
|
||||
update_offroad_layout_state(s);
|
||||
}
|
||||
|
||||
capn_free(&ctx);
|
||||
}
|
||||
|
||||
static void check_messages(UIState *s) {
|
||||
@@ -619,12 +535,11 @@ static void check_messages(UIState *s) {
|
||||
break;
|
||||
|
||||
for (auto sock : polls){
|
||||
Message * msg = sock->receive();
|
||||
if (msg == NULL) continue;
|
||||
|
||||
handle_message(s, msg);
|
||||
|
||||
delete msg;
|
||||
Message *msg = sock->receive();
|
||||
if (msg) {
|
||||
handle_message(s, msg);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -938,8 +853,6 @@ int is_leon() {
|
||||
return strstr(str, "letv") != NULL;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
int err;
|
||||
setpriority(PRIO_PROCESS, 0, -14);
|
||||
@@ -1054,7 +967,7 @@ int main(int argc, char* argv[]) {
|
||||
if (s->hardware_timeout > 0) {
|
||||
s->hardware_timeout--;
|
||||
} else {
|
||||
s->scene.hwType = cereal_HealthData_HwType_unknown;
|
||||
s->scene.hwType = cereal::HealthData::HwType::UNKNOWN;
|
||||
}
|
||||
|
||||
// Don't waste resources on drawing in case screen is off
|
||||
@@ -1076,17 +989,18 @@ int main(int argc, char* argv[]) {
|
||||
if (s->controls_timeout > 0) {
|
||||
s->controls_timeout--;
|
||||
} else {
|
||||
if (s->started && s->controls_seen && strcmp(s->scene.alert_text2, "Controls Unresponsive") != 0) {
|
||||
if (s->started && s->controls_seen && s->scene.alert_text2 != "Controls Unresponsive") {
|
||||
LOGE("Controls unresponsive");
|
||||
s->scene.alert_size = ALERTSIZE_FULL;
|
||||
s->scene.alert_size = cereal::ControlsState::AlertSize::FULL;
|
||||
update_status(s, STATUS_ALERT);
|
||||
|
||||
snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", "TAKE CONTROL IMMEDIATELY");
|
||||
snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", "Controls Unresponsive");
|
||||
ui_draw_vision_alert(s, s->scene.alert_size, s->status, s->scene.alert_text1, s->scene.alert_text2);
|
||||
s->scene.alert_text1 = "TAKE CONTROL IMMEDIATELY";
|
||||
s->scene.alert_text2 = "Controls Unresponsive";
|
||||
|
||||
ui_draw_vision_alert(s, s->scene.alert_size, s->status, s->scene.alert_text1.c_str(), s->scene.alert_text2.c_str());
|
||||
|
||||
s->alert_sound_timeout = 2 * UI_FREQ;
|
||||
s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_chimeWarningRepeat;
|
||||
s->alert_sound = cereal::CarControl::HUDControl::AudibleAlert::CHIME_WARNING_REPEAT;
|
||||
play_alert_sound(s->alert_sound);
|
||||
}
|
||||
|
||||
@@ -1096,9 +1010,9 @@ int main(int argc, char* argv[]) {
|
||||
|
||||
// stop playing alert sound
|
||||
if ((!s->started || (s->started && s->alert_sound_timeout == 0)) &&
|
||||
s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
|
||||
s->alert_sound != cereal::CarControl::HUDControl::AudibleAlert::NONE) {
|
||||
stop_alert_sound(s->alert_sound);
|
||||
s->alert_sound = cereal_CarControl_HUDControl_AudibleAlert_none;
|
||||
s->alert_sound = cereal::CarControl::HUDControl::AudibleAlert::NONE;
|
||||
}
|
||||
|
||||
read_param_bool_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
|
||||
|
||||
Reference in New Issue
Block a user