UI: add timeout to close settings window while onroad (#22980)

* refactor updateWakefulness

* don't hide sidebar

* rename reset->reset_timeout

* move related variables and functions into class Device

* reset timeout in ctor

* set timeout to 10s if ignition is on

* cleanup

* remove unused QTimer *timer

* check getTimestamp

* keep socket reading in update_state

* keep filtering

Co-authored-by: Willem Melching <willem.melching@gmail.com>

selfdrive/ui/qt/window.cc

@@ -37,17 +37,16 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     main_layout->setCurrentWidget(onboardingWindow);
   }
 
-  device.setAwake(true, true);
   QObject::connect(&qs, &QUIState::uiUpdate, &device, &Device::update);
   QObject::connect(&qs, &QUIState::offroadTransition, [=](bool offroad) {
     if (!offroad) {
       closeSettings();
     }
   });
-  QObject::connect(&device, &Device::displayPowerChanged, [=]() {
-     if(main_layout->currentWidget() != onboardingWindow) {
-       closeSettings();
-     }
+  QObject::connect(&device, &Device::interactiveTimout, [=]() {
+    if (main_layout->currentWidget() == settingsWindow) {
+      closeSettings();
+    }
   });
 
   // load fonts
@@ -86,9 +85,8 @@ void MainWindow::closeSettings() {
 }
 
 bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
-  // wake screen on tap
   if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::TouchBegin) {
-    device.setAwake(true, true);
+    device.resetInteractiveTimout();
   }
 
 #ifdef QCOM

selfdrive/ui/ui.cc

@@ -251,6 +251,8 @@ void QUIState::update() {
 }
 
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
+  setAwake(true);
+  resetInteractiveTimout();
 }
 
 void Device::update(const UIState &s) {
@@ -261,17 +263,17 @@ void Device::update(const UIState &s) {
   QUIState::ui_state.awake = awake;
 }
 
-void Device::setAwake(bool on, bool reset) {
+void Device::setAwake(bool on) {
   if (on != awake) {
     awake = on;
     Hardware::set_display_power(awake);
     LOGD("setting display power %d", awake);
     emit displayPowerChanged(awake);
   }
+}
 
-  if (reset) {
-    awake_timeout = 30 * UI_FREQ;
-  }
+void Device::resetInteractiveTimout() {
+  interactive_timeout = (ignition_on ? 10 : 30) * UI_FREQ;
 }
 
 void Device::updateBrightness(const UIState &s) {
@@ -302,18 +304,28 @@ void Device::updateBrightness(const UIState &s) {
   last_brightness = brightness;
 }
 
-void Device::updateWakefulness(const UIState &s) {
-  awake_timeout = std::max(awake_timeout - 1, 0);
+bool Device::motionTriggered(const UIState &s) {
+  static float accel_prev = 0;
+  static float gyro_prev = 0;
 
-  bool should_wake = s.scene.started || s.scene.ignition;
-  if (!should_wake) {
-    // tap detection while display is off
-    bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2;
-    bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15;
-    should_wake = accel_trigger && gyro_trigger;
-    gyro_prev = s.scene.gyro_sensor;
-    accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples;
+  bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2;
+  bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15;
+
+  gyro_prev = s.scene.gyro_sensor;
+  accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples;
+
+  return (!awake && accel_trigger && gyro_trigger);
+}
+
+void Device::updateWakefulness(const UIState &s) {
+  bool ignition_just_turned_off = !s.scene.ignition && ignition_on;
+  ignition_on = s.scene.ignition;
+
+  if (ignition_just_turned_off || motionTriggered(s)) {
+    resetInteractiveTimout();
+  } else if (interactive_timeout > 0 && --interactive_timeout == 0) {
+    emit interactiveTimout();
   }
 
-  setAwake(awake_timeout, should_wake);
+  setAwake(s.scene.ignition || interactive_timeout > 0);
 }

selfdrive/ui/ui.h

@@ -152,22 +152,22 @@ private:
   const float accel_samples = 5*UI_FREQ;
 
   bool awake = false;
-  int awake_timeout = 0;
-  float accel_prev = 0;
-  float gyro_prev = 0;
+  int interactive_timeout = 0;
+  bool ignition_on = false;
   int last_brightness = 0;
   FirstOrderFilter brightness_filter;
 
-  QTimer *timer;
-
   void updateBrightness(const UIState &s);
   void updateWakefulness(const UIState &s);
+  bool motionTriggered(const UIState &s);
+  void setAwake(bool on);
 
 signals:
   void displayPowerChanged(bool on);
+  void interactiveTimout();
 
 public slots:
-  void setAwake(bool on, bool reset);
+  void resetInteractiveTimout();
   void update(const UIState &s);
 };