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ui: check for updated message before updating states in HUD (#1392)

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This commit is contained in:
Jason Wen
2025-10-15 16:47:00 -04:00
committed by GitHub
parent f1ca81debf
commit c438aeb5a5
2 changed files with 64 additions and 43 deletions
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105
selfdrive/ui/sunnypilot/qt/onroad/hud.cc
View File

@@ -26,31 +26,54 @@ HudRendererSP::HudRendererSP() {
void HudRendererSP::updateState(const UIState &s) {
HudRenderer::updateState(s);
float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
devUiInfo = s.scene.dev_ui_info;
roadName = s.scene.road_name;
showTurnSignals = s.scene.turn_signals;
speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
speedUnit = is_metric ? tr("km/h") : tr("mph");
standstillTimer = s.scene.standstill_timer;
const SubMaster &sm = *(s.sm);
const auto cs = sm["controlsState"].getControlsState();
const auto car_state = sm["carState"].getCarState();
const auto car_control = sm["carControl"].getCarControl();
const auto radar_state = sm["radarState"].getRadarState();
const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
const auto car_params = sm["carParams"].getCarParams();
const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
roadName = s.scene.road_name;
if (sm.updated("carParams")) {
steerControlType = car_params.getSteerControlType();
}
if (sm.updated("carParamsSP")) {
pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
}
if (sm.updated("longitudinalPlanSP")) {
speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
}
if (sm.updated("liveMapDataSP")) {
roadNameStr = QString::fromStdString(lmd.getRoadName());
speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
@@ -66,7 +89,7 @@ void HudRendererSP::updateState(const UIState &s) {
static int reverse_delay = 0;
bool reverse_allowed = false;
if (int(car_state.getGearShifter()) != 4) {
if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
reverse_delay = 0;
reverse_allowed = false;
} else {
@@ -78,46 +101,47 @@ void HudRendererSP::updateState(const UIState &s) {
reversing = reverse_allowed;
if (sm.updated("liveParameters")) {
roll = sm["liveParameters"].getLiveParameters().getRoll();
}
if (sm.updated("deviceState")) {
memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
}
if (sm.updated(gps_source)) {
gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0; // External reports accuracy, internal does not.
altitude = gpsLocation.getAltitude();
bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
bearingDeg = gpsLocation.getBearingDeg();
}
if (sm.updated("liveTorqueParameters")) {
torquedUseParams = ltp.getUseParams();
latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
liveValid = ltp.getLiveValid();
}
latActive = car_control.getLatActive();
actuators = car_control.getActuators();
longOverride = car_control.getCruiseControl().getOverride();
carControlEnabled = car_control.getEnabled();
steerOverride = car_state.getSteeringPressed();
devUiInfo = s.scene.dev_ui_info;
speedUnit = is_metric ? tr("km/h") : tr("mph");
lead_d_rel = radar_state.getLeadOne().getDRel();
lead_v_rel = radar_state.getLeadOne().getVRel();
lead_status = radar_state.getLeadOne().getStatus();
steerControlType = car_params.getSteerControlType();
actuators = car_control.getActuators();
torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
angleSteers = car_state.getSteeringAngleDeg();
desiredCurvature = cs.getDesiredCurvature();
curvature = cs.getCurvature();
roll = sm["liveParameters"].getLiveParameters().getRoll();
memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0; // External reports accuracy, internal does not.
altitude = gpsLocation.getAltitude();
vEgo = car_state.getVEgo();
aEgo = car_state.getAEgo();
steeringTorqueEps = car_state.getSteeringTorqueEps();
bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
bearingDeg = gpsLocation.getBearingDeg();
torquedUseParams = ltp.getUseParams();
latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
liveValid = ltp.getLiveValid();
standstillTimer = s.scene.standstill_timer;
isStandstill = car_state.getStandstill();
if (not s.scene.started) standstillElapsedTime = 0.0;
longOverride = car_control.getCruiseControl().getOverride();
smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
// override stock current speed values
float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
@@ -128,11 +152,8 @@ void HudRendererSP::updateState(const UIState &s) {
rightBlinkerOn = car_state.getRightBlinker();
leftBlindspot = car_state.getLeftBlindspot();
rightBlindspot = car_state.getRightBlindspot();
showTurnSignals = s.scene.turn_signals;
carControlEnabled = car_control.getEnabled();
speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
}
void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {

2
selfdrive/ui/sunnypilot/qt/onroad/hud.h
View File

@@ -121,5 +121,5 @@ private:
bool carControlEnabled;
float speedCluster = 0;
int icbm_active_counter = 0;
bool pcmCruiseSpeed;
bool pcmCruiseSpeed = true;
};