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bugfix: streamline LiveDelay parameter loading with safe handling (#1204)

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This commit is contained in:
DevTekVE
2025-09-03 17:18:18 +02:00
committed by GitHub
parent 9447aa0e3d
commit 288a5e14da
1 changed files with 27 additions and 22 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+27 -22
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@@ -48,6 +48,25 @@ static const QString progressStyleError = progressStyleActive +
" background-color: transparent;"
"}";
std::optional<cereal::Event::Reader> safeParamEventLoad(Params& params, const std::string& paramName) {
std::string raw = params.get(paramName);
if (raw.empty()) {
return std::nullopt;
}
try {
AlignedBuffer alignedBuf;
auto buf = alignedBuf.align(raw.data(), raw.size());
capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(buf.begin(), buf.size()));
return msg.getRoot<cereal::Event>();
}
catch (const kj::Exception& e) {
qInfo() << "Invalid param" << QString::fromStdString(paramName) << ":" << e.getDescription().cStr();
return std::nullopt;
}
}
ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(50, 20, 50, 20);
@@ -134,17 +153,10 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
// Software delay control
int liveDelayMaxInt = 30;
std::string liveDelayBytes = params.get("LiveDelay");
if (!liveDelayBytes.empty()) {
capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
liveDelayBytes.size() / sizeof(capnp::word)));
auto event = msg.getRoot<cereal::Event>();
if (event.hasLiveDelay()) {
auto liveDelay = event.getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
}
if (const auto event = safeParamEventLoad(params, "LiveDelay"); event && event->hasLiveDelay()) {
auto liveDelay = event->getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
}
delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
@@ -437,18 +449,11 @@ void ModelsPanel::updateLabels() {
"Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
bool lagdEnabled = params.getBool("LagdToggle");
if (lagdEnabled) {
std::string liveDelayBytes = params.get("LiveDelay");
if (!liveDelayBytes.empty()) {
capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
liveDelayBytes.size() / sizeof(capnp::word)));
auto event = msg.getRoot<cereal::Event>();
if (event.hasLiveDelay()) {
auto liveDelay = event.getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
if (const auto event = safeParamEventLoad(params, "LiveDelay"); event && event->hasLiveDelay()) {
auto liveDelay = event->getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
.arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
}
}
} else {
std::string carParamsBytes = params.get("CarParamsPersistent");