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UI: function update_status (#19679)

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* update_status

* reformat switch

* set s->started in update_status

* space

* rebase master
This commit is contained in:
Dean Lee
2021-01-31 10:21:54 +08:00
committed by GitHub
parent afa1e69bc1
commit f54ecc2779
1 changed files with 22 additions and 19 deletions
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selfdrive/ui/ui.cc
+22 -19
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@@ -120,14 +120,10 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
}
static void update_sockets(UIState *s) {
SubMaster &sm = *(s->sm);
if (sm.update(0) == 0) return;
UIScene &scene = s->scene;
SubMaster &sm = *(s->sm);
if (sm.update(0) == 0){
return;
}
if (s->started && sm.updated("controlsState")) {
scene.controls_state = sm["controlsState"].getControlsState();
}
@@ -206,14 +202,6 @@ static void update_alert(UIState *s) {
scene.alert_size = scene.controls_state.getAlertSize();
scene.alert_type = scene.controls_state.getAlertType();
scene.alert_blinking_rate = scene.controls_state.getAlertBlinkingRate();
auto alert_status = scene.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 = scene.controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
}
}
// Handle controls timeout
@@ -270,12 +258,19 @@ static void update_vision(UIState *s) {
}
}
void ui_update(UIState *s) {
update_params(s);
update_sockets(s);
update_alert(s);
static void update_status(UIState *s) {
s->started = s->scene.thermal.getStarted() || s->scene.frontview;
update_vision(s);
if (s->started && s->sm->updated("controlsState")) {
auto alert_status = s->scene.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;
}
}
// Handle onroad/offroad transition
if (!s->started && s->status != STATUS_OFFROAD) {
@@ -293,3 +288,11 @@ void ui_update(UIState *s) {
s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
}
}
void ui_update(UIState *s) {
update_params(s);
update_sockets(s);
update_alert(s);
update_status(s);
update_vision(s);
}