From acf280e15babfc5654b0cfc093b7050dbd9205e5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 15 Sep 2023 22:55:59 -0400
Subject: [PATCH] ui: Handle frequency checks for live params and other
 elements (#278)

---
 selfdrive/ui/qt/sidebar.cc |  4 +---
 selfdrive/ui/qt/sidebar.h  |  1 -
 selfdrive/ui/ui.cc         | 16 +++++++++++-----
 selfdrive/ui/ui.h          |  1 -
 4 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index f17822c5c4..eca5247b0f 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -92,9 +92,7 @@ void Sidebar::updateState(const UIState &s) {
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
 
-  if (millis_since_boot() - last_temp_count > 1000 * 1) {
-    last_temp_count = millis_since_boot();
-
+  if (sm.frame % (UI_FREQ / 20) == 0) {  // Update every 1 Hz
     switch (s.scene.sidebar_temp_options) {
       case 0:
         sidebar_temp = QString::number((int)deviceState.getAmbientTempC());
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 01ad00915c..4297602908 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -61,7 +61,6 @@ protected:
 private:
   std::unique_ptr<PubMaster> pm;
 
-  uint64_t last_temp_count;
   QString sidebar_temp = "0";
   QString sidebar_temp_str = "0";
 };
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 8d39e35db4..5884660b37 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -231,15 +231,14 @@ void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
   s->scene.map_on_left = params.getBool("NavSettingLeftSide");
+
   s->scene.dynamic_lane_profile_toggle = params.getBool("DynamicLaneProfileToggle");
-  s->scene.dynamic_lane_profile = std::atoi(params.get("DynamicLaneProfile").c_str());
   s->scene.visual_brake_lights = params.getBool("BrakeLights");
   s->scene.onroadScreenOff = std::atoi(params.get("OnroadScreenOff").c_str());
   s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
   s->scene.onroadScreenOffEvent = params.getBool("OnroadScreenOffEvent");
   s->scene.brightness = std::atoi(params.get("BrightnessControl").c_str());
   s->scene.stand_still_timer = params.getBool("StandStillTimer");
-  s->scene.speed_limit_control_enabled = params.getBool("SpeedLimitControl");
   s->scene.speed_limit_perc_offset = params.getBool("SpeedLimitPercOffset");
   s->scene.show_debug_ui = params.getBool("ShowDebugUI");
   s->scene.debug_snapshot_enabled = params.getBool("EnableDebugSnapshot");
@@ -253,7 +252,6 @@ void ui_update_params(UIState *s) {
   s->scene.e2e_long_alert_light = params.getBool("EndToEndLongAlertLight");
   s->scene.e2e_long_alert_lead = params.getBool("EndToEndLongAlertLead");
   s->scene.e2e_long_alert_ui = params.getBool("EndToEndLongAlertUI");
-  s->scene.longitudinal_personality = std::atoi(params.get("LongitudinalPersonality").c_str());
 
   // Handle Onroad Screen Off params
   if (s->scene.onroadScreenOff > 0) {
@@ -314,6 +312,15 @@ void UIState::updateStatus() {
   }
 
   if (scene.started) {
+    // Update live params when the camera view is on
+    {
+      if (sm->frame % (UI_FREQ / 10) == 0) {  // Update every 2 Hz
+        scene.dynamic_lane_profile = std::atoi(params.get("DynamicLaneProfile").c_str());
+        scene.longitudinal_personality = std::atoi(params.get("LongitudinalPersonality").c_str());
+        scene.speed_limit_control_enabled = params.getBool("SpeedLimitControl");
+      }
+    }
+
     // Auto hide UI button state machine
     {
       if (scene.button_auto_hide) {
@@ -366,8 +373,7 @@ void UIState::updateStatus() {
     }
   }
 
-  if (millis_since_boot() - last_update_params_sidebar > 1000 * 1) {
-    last_update_params_sidebar = millis_since_boot();
+  if (sm->frame % (UI_FREQ / 20) == 0) {  // Update every 1 Hz
     scene.sidebar_temp = params.getBool("SidebarTemperature");
     scene.sidebar_temp_options = std::atoi(params.get("SidebarTemperatureOptions").c_str());
   }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 23ccc48b84..086acdeb89 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -265,7 +265,6 @@ private:
   QTimer *timer;
   bool started_prev = false;
   PrimeType prime_type = PrimeType::UNKNOWN;
-  uint64_t last_update_params_sidebar;
 
   bool last_mads_enabled = false;
   bool mads_path_state = false;