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ui: cleanup cereal event params parsing (#1219)

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

This reverts commit 288a5e14da.

* ui: use AlignedBuffer for cereal data processing for Models panel

* align

* separate

* split

* event it

* no more backup

* Revert "no more backup"

This reverts commit fa66ce5e774db6832a0cf3a32ff6fb6803cf0df1.
This commit is contained in:
Jason Wen
2025-09-05 20:51:58 -04:00
committed by GitHub
parent 7d4df73ea5
commit 7057c57419
4 changed files with 34 additions and 41 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+17 -41
View File
@@ -48,25 +48,6 @@ 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);
@@ -152,16 +133,10 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
list->addItem(lagd_toggle_control);
// Software delay control
int liveDelayMaxInt = 30;
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."
"\nThe default software delay value is 0.2"),
"", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
"\nThe default software delay value is 0.2"),
"", {5, 50}, 1, false, nullptr, true, true);
connect(delay_control, &OptionControlSP::updateLabels, [=]() {
float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
@@ -449,27 +424,28 @@ 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) {
if (const auto event = safeParamEventLoad(params, "LiveDelay"); event && event->hasLiveDelay()) {
auto liveDelay = event->getLiveDelay();
float lateralDelay = liveDelay.getLateralDelay();
auto liveDelayBytes = params.get("LiveDelay");
if (!liveDelayBytes.empty()) {
auto LD = loadCerealEvent(params, "LiveDelay");
float lateralDelay = LD->getLiveDelay().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));
.arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
}
} else {
std::string carParamsBytes = params.get("CarParamsPersistent");
auto carParamsBytes = params.get("CarParamsPersistent");
if (!carParamsBytes.empty()) {
capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
carParamsBytes.size() / sizeof(capnp::word)));
auto carParams = msg.getRoot<cereal::CarParams>();
float steerDelay = carParams.getSteerActuatorDelay();
AlignedBuffer aligned_buf_cp;
capnp::FlatArrayMessageReader cmsg(aligned_buf_cp.align(carParamsBytes.data(), carParamsBytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
float steerDelay = CP.getSteerActuatorDelay();
float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
float totalLag = steerDelay + softwareDelay;
desc += QString("<br><br><span style=\"color:#e0e0e0\">"
"<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
.arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
tr("Total Delay:"), QString::number(totalLag, 'f', 2));
.arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
tr("Total Delay:"), QString::number(totalLag, 'f', 2));
}
}
lagd_toggle_control->setDescription(desc);
selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+1
View File
@@ -9,6 +9,7 @@
#include <QProgressBar>
#include "selfdrive/ui/sunnypilot/qt/util.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
class ModelsPanel : public QWidget {
selfdrive/ui/sunnypilot/qt/util.cc
+13
View File
@@ -110,3 +110,16 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
}
return search_results;
}
std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param) {
std::string bytes = params.get(_param);
try {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(bytes.data(), bytes.size()));
return cmsg.getRoot<cereal::Event>();
} catch (kj::Exception& e) {
qInfo() << "invalid " << QString::fromStdString(_param) << ":" << e.getDescription().cStr();
return std::nullopt;
}
}
selfdrive/ui/sunnypilot/qt/util.h
+3
View File
@@ -15,8 +15,11 @@
#include <QRegularExpression>
#include <QWidget>
#include "selfdrive/ui/sunnypilot/ui.h"
QString getUserAgent(bool sunnylink = false);
std::optional<QString> getSunnylinkDongleId();
std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
QMap<QString, QVariantMap> loadPlatformList();
QStringList searchFromList(const QString &query, const QStringList &list);
std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);