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ui: onroad widget check if sockets alive (#24913)

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* ui: onroad widget check if socket alive

* cleanup
old-commit-hash: 8270c1c1a3
This commit is contained in:
Willem Melching
2022-06-20 19:14:43 +02:00
committed by GitHub
parent 5494622601
commit 387314217b
1 changed files with 11 additions and 5 deletions
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16
selfdrive/ui/qt/onroad.cc
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@@ -172,22 +172,28 @@ NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FRE
void NvgWindow::updateState(const UIState &s) {
const int SET_SPEED_NA = 255;
const SubMaster &sm = *(s.sm);
const bool cs_alive = sm.alive("controlsState");
const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
const auto cs = sm["controlsState"].getControlsState();
float set_speed = cs.getVCruise();
float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA;
bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
if (cruise_set && !s.scene.is_metric) {
set_speed *= KM_TO_MILE;
}
float cur_speed = std::max(0.0, sm["carState"].getCarState().getVEgo() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH));
float cur_speed = cs_alive ? std::max<float>(0.0, sm["carState"].getCarState().getVEgo()) : 0.0;
cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
float speed_limit = sm["navInstruction"].getValid() ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
setProperty("speedLimit", speed_limit);
setProperty("has_us_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
setProperty("has_eu_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
setProperty("is_cruise_set", cruise_set);
setProperty("speed", cur_speed);