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ui onroad: utilize local variables for repeated capnp reader access (#230)

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This commit is contained in:
Jason Wen
2023-08-11 01:22:59 -04:00
committed by GitHub
parent bdd40ae585
commit 5e2b06668c
1 changed files with 7 additions and 6 deletions
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selfdrive/ui/qt/onroad.cc
+7 -6
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@@ -416,6 +416,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
const auto radar_state = sm["radarState"].getRadarState();
const auto gpsLocationExternal = sm["gpsLocationExternal"].getGpsLocationExternal();
const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
const auto lateral_plan = sm["lateralPlan"].getLateralPlan();
// Handle older routes where vCruiseCluster is not set
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -445,8 +446,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
// TODO: Add minimum speed?
setProperty("left_blindspot", cs_alive && sm["carState"].getCarState().getLeftBlindspot());
setProperty("right_blindspot", cs_alive && sm["carState"].getCarState().getRightBlindspot());
setProperty("left_blindspot", cs_alive && car_state.getLeftBlindspot());
setProperty("right_blindspot", cs_alive && car_state.getRightBlindspot());
setProperty("is_cruise_set", cruise_set);
setProperty("is_metric", s.scene.is_metric);
@@ -465,7 +466,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setProperty("standStillTimer", s.scene.stand_still_timer);
setProperty("standStill", car_state.getStandstill());
setProperty("standstillElapsedTime", sm["lateralPlan"].getLateralPlan().getStandstillElapsed());
setProperty("standstillElapsedTime", lateral_plan.getStandstillElapsed());
setProperty("hideVEgoUi", s.scene.hide_vego_ui);
@@ -502,9 +503,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setProperty("btnPerc", s.scene.sleep_btn_opacity * 0.05);
setProperty("left_blinker", sm["carState"].getCarState().getLeftBlinker());
setProperty("right_blinker", sm["carState"].getCarState().getRightBlinker());
setProperty("lane_change_edge_block", sm["lateralPlan"].getLateralPlan().getLaneChangeEdgeBlock());
setProperty("left_blinker", car_state.getLeftBlinker());
setProperty("right_blinker", car_state.getRightBlinker());
setProperty("lane_change_edge_block", lateral_plan.getLaneChangeEdgeBlock());
// update engageability/experimental mode button
experimental_btn->updateState(s);