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OnroadHud: update engageability and DM icons at 2Hz (#23134)

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old-commit-hash: 5ab6bff670
This commit is contained in:
Dean Lee
2021-12-06 04:54:35 +08:00
committed by GitHub
parent a9a5f1933e
commit 53c7684956
3 changed files with 6 additions and 10 deletions
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8
selfdrive/ui/qt/onroad.cc
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@@ -184,10 +184,14 @@ void OnroadHud::updateState(const UIState &s) {
setProperty("speed", QString::number(std::nearbyint(cur_speed)));
setProperty("maxSpeed", maxspeed_str);
setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
setProperty("engageable", cs.getEngageable());
setProperty("status", s.status);
// update engageability and DM icons at 2Hz
if (sm.frame % (UI_FREQ / 2) == 0) {
setProperty("engageable", cs.getEngageable() || cs.getEnabled());
setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
}
}
void OnroadHud::paintEvent(QPaintEvent *event) {

6
selfdrive/ui/ui.cc
View File

@@ -110,12 +110,6 @@ static void update_state(UIState *s) {
UIScene &scene = s->scene;
s->running_time = 1e-9 * (nanos_since_boot() - sm["deviceState"].getDeviceState().getStartedMonoTime());
// update engageability and DM icons at 2Hz
if (sm.frame % (UI_FREQ / 2) == 0) {
auto cs = sm["controlsState"].getControlsState();
scene.engageable = cs.getEngageable() || cs.getEnabled();
scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
}
if (sm.updated("modelV2") && s->vg) {
update_model(s, sm["modelV2"].getModelV2());
}

2
selfdrive/ui/ui.h
View File

@@ -109,8 +109,6 @@ typedef struct UIScene {
line_vertices_data lane_line_vertices[4];
line_vertices_data road_edge_vertices[2];
bool dm_active, engageable;
// lead
vertex_data lead_vertices[2];