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UI: remove duplicate capnp readers (#20855)

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* refactor submaster

* rebase master

* CAPNP best pratice

* zero initialize

* vwp_w has not been initialized before UIState()

* no static

* rebase master

* Minimize refactoring

* cleanup

* remove gpsOk

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 533bc30c2e4ecac5e022f2ba4f3919842dfa0a1a
This commit is contained in:
Dean Lee
2021-05-15 13:47:06 +08:00
committed by GitHub
parent 3fbeb1299e
commit ebe3a39909
6 changed files with 37 additions and 59 deletions
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selfdrive/ui/ui.cc
+9 -27
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@@ -72,7 +72,6 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
// negative because radarState uses left positive convention
calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
}
s->scene.lead_data[i] = lead_data;
}
}
@@ -114,8 +113,9 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
}
// update path
if (scene.lead_data[0].getStatus()) {
const float lead_d = scene.lead_data[0].getDRel() * 2.;
auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
if (lead_one.getStatus()) {
const float lead_d = lead_one.getDRel() * 2.;
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
max_idx = get_path_length_idx(model_position, max_distance);
@@ -123,20 +123,13 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
}
static void update_sockets(UIState *s){
SubMaster &sm = *(s->sm);
sm.update(0);
s->sm->update(0);
}
static void update_state(UIState *s) {
SubMaster &sm = *(s->sm);
UIScene &scene = s->scene;
if (scene.started && sm.updated("controlsState")) {
scene.controls_state = sm["controlsState"].getControlsState();
}
if (sm.updated("carState")) {
scene.car_state = sm["carState"].getCarState();
}
if (sm.updated("radarState")) {
std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
if (sm.rcv_frame("modelV2") > 0) {
@@ -164,9 +157,6 @@ static void update_state(UIState *s) {
if (sm.updated("modelV2")) {
update_model(s, sm["modelV2"].getModelV2());
}
if (sm.updated("deviceState")) {
scene.deviceState = sm["deviceState"].getDeviceState();
}
if (sm.updated("pandaState")) {
auto pandaState = sm["pandaState"].getPandaState();
scene.pandaType = pandaState.getPandaType();
@@ -180,18 +170,9 @@ static void update_state(UIState *s) {
scene.satelliteCount = data.getMeasurementReport().getNumMeas();
}
}
if (sm.updated("liveLocationKalman")) {
scene.gpsOK = sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK();
}
if (sm.updated("carParams")) {
scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
}
if (sm.updated("driverState")) {
scene.driver_state = sm["driverState"].getDriverState();
}
if (sm.updated("driverMonitoringState")) {
scene.dmonitoring_state = sm["driverMonitoringState"].getDriverMonitoringState();
}
if (sm.updated("sensorEvents")) {
for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
if (!Hardware::TICI() && sensor.which() == cereal::SensorEventData::LIGHT) {
@@ -215,7 +196,7 @@ static void update_state(UIState *s) {
float gain = camera_state.getGainFrac() * (camera_state.getGlobalGain() > 100 ? 2.5 : 1.0) / 10.0;
scene.light_sensor = std::clamp<float>((1023.0 / 1757.0) * (1757.0 - camera_state.getIntegLines()) * (1.0 - gain), 0.0, 1023.0);
}
scene.started = scene.deviceState.getStarted() || scene.driver_view;
scene.started = sm["deviceState"].getDeviceState().getStarted() || scene.driver_view;
}
static void update_params(UIState *s) {
@@ -245,13 +226,14 @@ static void update_vision(UIState *s) {
static void update_status(UIState *s) {
if (s->scene.started && s->sm->updated("controlsState")) {
auto alert_status = s->scene.controls_state.getAlertStatus();
auto controls_state = (*s->sm)["controlsState"].getControlsState();
auto alert_status = controls_state.getAlertStatus();
if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
s->status = STATUS_WARNING;
} else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
s->status = STATUS_ALERT;
} else {
s->status = s->scene.controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
s->status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
}
}