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ui: fix Immediate ALERT_STARTUP_PENDING after going onroad (#35509)

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fix timeout alerts could appear immediately after going onroad
This commit is contained in:
Dean Lee
2025-06-10 02:35:19 +08:00
committed by GitHub
parent 08aeeabc9b
commit fc27423ac2
1 changed files with 13 additions and 11 deletions
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selfdrive/ui/onroad/alert_renderer.py
+13 -11
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@@ -72,18 +72,20 @@ class AlertRenderer(Widget):
# Check if selfdriveState messages have stopped arriving
if not sm.updated['selfdriveState']:
recv_frame = sm.recv_frame['selfdriveState']
if (sm.frame - recv_frame) > 5 * DEFAULT_FPS:
# Check if waiting to start
if recv_frame < ui_state.started_frame:
return ALERT_STARTUP_PENDING
time_since_onroad = (sm.frame - ui_state.started_frame) / DEFAULT_FPS
# 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
# 1. Never received selfdriveState since going onroad
waiting_for_startup = recv_frame < ui_state.started_frame
if waiting_for_startup and time_since_onroad > 5:
return ALERT_STARTUP_PENDING
# 2. Lost communication with selfdriveState after receiving it
if TICI and not waiting_for_startup:
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: