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ui: fix alert disappear when no controlState is received in a frame. (#28811)

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* always return alert

* don't get old alert
old-commit-hash: d9d5ce36345950db8471631a083c9a609595c311
This commit is contained in:
Dean Lee
2023-07-06 06:20:28 +08:00
committed by GitHub
parent 724ef9d7ef
commit b987242655
1 changed files with 25 additions and 20 deletions
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selfdrive/ui/ui.h
+25 -20
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@@ -48,38 +48,43 @@ struct Alert {
static Alert get(const SubMaster &sm, uint64_t started_frame) {
const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
if (sm.updated("controlsState")) {
return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
cs.getAlertType().cStr(), cs.getAlertSize(),
cs.getAlertStatus(),
cs.getAlertSound()};
} else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
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 (sm.rcv_frame("controlsState") < started_frame) {
if (controls_frame < 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,
cereal::ControlsState::AlertStatus::NORMAL,
AudibleAlert::NONE};
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) {
return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
"controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
cereal::ControlsState::AlertStatus::CRITICAL,
AudibleAlert::WARNING_IMMEDIATE};
alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
"controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
cereal::ControlsState::AlertStatus::CRITICAL,
AudibleAlert::WARNING_IMMEDIATE};
} else {
return {"Controls Unresponsive", "Reboot Device",
"controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
cereal::ControlsState::AlertStatus::NORMAL,
AudibleAlert::NONE};
alert = {"Controls Unresponsive", "Reboot Device",
"controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
cereal::ControlsState::AlertStatus::NORMAL,
AudibleAlert::NONE};
}
}
}
return {};
return alert;
}
};