mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-04 04:52:09 +08:00
Code Issues Packages Projects Releases Wiki Activity

ui: add timeout check for unresponsive system detection (#35433)

Browse Source 
add time out to check if messages have stopped arriving
This commit is contained in:
Dean Lee
2025-06-03 12:32:13 +08:00
committed by GitHub
parent 6f6adc10a8
commit f78ba72a85
1 changed files with 15 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/onroad/alert_renderer.py
+15 -11
View File
@@ -3,7 +3,7 @@ import pyray as rl
from dataclasses import dataclass
from cereal import messaging, log
from openpilot.system.hardware import TICI
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.application import gui_app, FontWeight, DEBUG_FPS
from openpilot.system.ui.lib.label import gui_text_box
from openpilot.selfdrive.ui.ui_state import ui_state
@@ -70,17 +70,21 @@ class AlertRenderer:
"""Generate the current alert based on selfdrive state."""
ss = sm['selfdriveState']
# Check if waiting to start
if sm.recv_frame['selfdriveState'] < ui_state.started_frame:
return ALERT_STARTUP_PENDING
# Check if selfdriveState messages have stopped arriving
if not sm.updated['selfdriveState']:
recv_frame = sm.recv_frame['selfdriveState']
if (sm.frame - recv_frame) > 5 * DEBUG_FPS:
# Check if waiting to start
if recv_frame < ui_state.started_frame:
return ALERT_STARTUP_PENDING
# Handle selfdrive timeout
if TICI:
ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
if ss_missing > SELFDRIVE_STATE_TIMEOUT:
if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
return ALERT_CRITICAL_TIMEOUT
return ALERT_CRITICAL_REBOOT
# Handle selfdrive timeout
if TICI:
ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
if ss_missing > SELFDRIVE_STATE_TIMEOUT:
if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
return ALERT_CRITICAL_TIMEOUT
return ALERT_CRITICAL_REBOOT
# No alert if size is none
if ss.alertSize == 0: