diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index d5d2e6c0de..0236e20f16 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -19,34 +19,34 @@ void OnroadAlerts::clear() {
}
OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
- const cereal::SelfdriveState::Reader &cs = sm["selfdriveState"].getSelfdriveState();
- const uint64_t controls_frame = sm.rcv_frame("selfdriveState");
+ const cereal::SelfdriveState::Reader &ss = sm["selfdriveState"].getSelfdriveState();
+ const uint64_t selfdrive_frame = sm.rcv_frame("selfdriveState");
Alert a = {};
- if (controls_frame >= started_frame) { // Don't get old alert.
- a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
- cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()};
+ if (selfdrive_frame >= started_frame) { // Don't get old alert.
+ a = {ss.getAlertText1().cStr(), ss.getAlertText2().cStr(),
+ ss.getAlertType().cStr(), ss.getAlertSize(), ss.getAlertStatus()};
}
if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
- const int CONTROLS_TIMEOUT = 5;
- const int controls_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
+ const int SELFDRIVE_STATE_TIMEOUT = 5;
+ const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
- // Handle controls timeout
- if (controls_frame < started_frame) {
+ // Handle selfdrive timeout
+ if (selfdrive_frame < started_frame) {
// car is started, but selfdriveState hasn't been seen at all
- a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"),
- "controlsWaiting", cereal::SelfdriveState::AlertSize::MID,
+ a = {tr("openpilot Unavailable"), tr("Waiting to start"),
+ "selfdriveWaiting", cereal::SelfdriveState::AlertSize::MID,
cereal::SelfdriveState::AlertStatus::NORMAL};
- } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
- // car is started, but controls is lagging or died
- if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
- a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"),
- "controlsUnresponsive", cereal::SelfdriveState::AlertSize::FULL,
+ } else if (ss_missing > SELFDRIVE_STATE_TIMEOUT && !Hardware::PC()) {
+ // car is started, but selfdrive is lagging or died
+ if (ss.getEnabled() && (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10) {
+ a = {tr("TAKE CONTROL IMMEDIATELY"), tr("System Unresponsive"),
+ "selfdriveUnresponsive", cereal::SelfdriveState::AlertSize::FULL,
cereal::SelfdriveState::AlertStatus::CRITICAL};
} else {
- a = {tr("Controls Unresponsive"), tr("Reboot Device"),
- "controlsUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID,
+ a = {tr("System Unresponsive"), tr("Reboot Device"),
+ "selfdriveUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID,
cereal::SelfdriveState::AlertStatus::NORMAL};
}
}
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index cc9940f275..b538f19dde 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -25,13 +25,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
const int SET_SPEED_NA = 255;
const SubMaster &sm = *(s.sm);
- const bool cs_alive = sm.alive("controlsState");
+ const bool cs_alive = sm.alive("carState");
const auto cs = sm["controlsState"].getControlsState();
const auto car_state = sm["carState"].getCarState();
is_metric = s.scene.is_metric;
- // Handle older routes where vCruiseCluster is not set
+ // Handle older routes where vCruise was in controlsState
float v_cruise = car_state.getVCruiseCluster() == 0.0 ? cs.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 4055fcfd35..3cd6ae5820 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -17,7 +17,7 @@ SAMPLE_RATE = 48000
SAMPLE_BUFFER = 4096 # (approx 100ms)
MAX_VOLUME = 1.0
MIN_VOLUME = 0.1
-CONTROLS_TIMEOUT = 5 # 5 seconds
+SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
@@ -40,11 +40,11 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
}
-def check_controls_timeout_alert(sm):
- controls_missing = time.monotonic() - sm.recv_time['selfdriveState']
+def check_selfdrive_timeout_alert(sm):
+ ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
- if controls_missing > CONTROLS_TIMEOUT:
- if sm['selfdriveState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10:
+ if ss_missing > SELFDRIVE_STATE_TIMEOUT:
+ if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
return True
return False
@@ -58,7 +58,7 @@ class Soundd:
self.current_volume = MIN_VOLUME
self.current_sound_frame = 0
- self.controls_timeout_alert = False
+ self.selfdrive_timeout_alert = False
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
@@ -114,12 +114,12 @@ class Soundd:
if sm.updated['selfdriveState']:
new_alert = sm['selfdriveState'].alertSound.raw
self.update_alert(new_alert)
- elif check_controls_timeout_alert(sm):
+ elif check_selfdrive_timeout_alert(sm):
self.update_alert(AudibleAlert.warningImmediate)
- self.controls_timeout_alert = True
- elif self.controls_timeout_alert:
+ self.selfdrive_timeout_alert = True
+ elif self.selfdrive_timeout_alert:
self.update_alert(AudibleAlert.none)
- self.controls_timeout_alert = False
+ self.selfdrive_timeout_alert = False
def calculate_volume(self, weighted_db):
volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index f40af8696a..a9da8455eb 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -1,7 +1,7 @@
from cereal import car
from cereal import messaging
from cereal.messaging import SubMaster, PubMaster
-from openpilot.selfdrive.ui.soundd import CONTROLS_TIMEOUT, check_controls_timeout_alert
+from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
import time
@@ -9,7 +9,7 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
class TestSoundd:
- def test_check_controls_timeout_alert(self):
+ def test_check_selfdrive_timeout_alert(self):
sm = SubMaster(['selfdriveState'])
pm = PubMaster(['selfdriveState'])
@@ -23,13 +23,13 @@ class TestSoundd:
sm.update(0)
- assert not check_controls_timeout_alert(sm)
+ assert not check_selfdrive_timeout_alert(sm)
- for _ in range(CONTROLS_TIMEOUT * 110):
+ for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
sm.update(0)
time.sleep(0.01)
- assert check_controls_timeout_alert(sm)
+ assert check_selfdrive_timeout_alert(sm)
# TODO: add test with micd for checking that soundd actually outputs sounds
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 0116f3c152..ebfcd1ec0b 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -418,22 +418,22 @@
openpilot Unavailable
openpilot غير متوفر
-
- Waiting for controls to start
- في انتظار بدء عناصر التحكم
-
TAKE CONTROL IMMEDIATELY
تحكم على الفور
-
- Controls Unresponsive
- الضوابط غير مستجيبة
-
Reboot Device
إعادة التشغيل
+
+ Waiting to start
+
+
+
+ System Unresponsive
+
+
PairingPopup
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 48180eef92..4e8bbe0a18 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -413,20 +413,20 @@
openpilot Unavailable
-
- Waiting for controls to start
-
-
TAKE CONTROL IMMEDIATELY
- Controls Unresponsive
+ Reboot Device
- Reboot Device
+ Waiting to start
+
+
+
+ System Unresponsive
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 150c00d117..083d2c25e1 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -414,22 +414,22 @@
openpilot Unavailable
openpilot no disponible
-
- Waiting for controls to start
- Esperando que los controles inicien
-
TAKE CONTROL IMMEDIATELY
TOME CONTROL INMEDIATAMENTE
-
- Controls Unresponsive
- Controles no responden
-
Reboot Device
Reiniciar Dispositivo
+
+ Waiting to start
+
+
+
+ System Unresponsive
+
+
PairingPopup
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index a678742f74..16adcaa081 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -414,20 +414,20 @@
openpilot Unavailable
-
- Waiting for controls to start
-
-
TAKE CONTROL IMMEDIATELY
- Controls Unresponsive
+ Reboot Device
- Reboot Device
+ Waiting to start
+
+
+
+ System Unresponsive
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 096fa95091..daac99ce09 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -412,20 +412,20 @@
openpilot Unavailable
-
- Waiting for controls to start
-
-
TAKE CONTROL IMMEDIATELY
- Controls Unresponsive
+ Reboot Device
- Reboot Device
+ Waiting to start
+
+
+
+ System Unresponsive
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index df012d3e85..9541067119 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -413,22 +413,22 @@
openpilot Unavailable
오픈파일럿을 사용할수없습니다
-
- Waiting for controls to start
- 프로세스가 준비중입니다
-
TAKE CONTROL IMMEDIATELY
핸들을 잡아주세요
-
- Controls Unresponsive
- 프로세스가 응답하지않습니다
-
Reboot Device
장치를 재부팅하세요
+
+ Waiting to start
+
+
+
+ System Unresponsive
+
+
PairingPopup
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 1500f07e63..e92e7748b3 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -414,22 +414,22 @@
openpilot Unavailable
openpilot Indisponível
-
- Waiting for controls to start
- Aguardando controles para iniciar
-
TAKE CONTROL IMMEDIATELY
ASSUMA IMEDIATAMENTE
-
- Controls Unresponsive
- Controles Não Respondem
-
Reboot Device
Reinicie o Dispositivo
+
+ Waiting to start
+
+
+
+ System Unresponsive
+
+
PairingPopup
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index bae326d532..d0dea811c6 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -413,22 +413,22 @@
openpilot Unavailable
openpilot ไม่สามารถใช้งานได้
-
- Waiting for controls to start
- กำลังรอให้ controls เริ่มทำงาน
-
TAKE CONTROL IMMEDIATELY
เข้าควบคุมรถเดี๋ยวนี้
-
- Controls Unresponsive
- Controls ไม่ตอบสนอง
-
Reboot Device
รีบูตอุปกรณ์
+
+ Waiting to start
+
+
+
+ System Unresponsive
+
+
PairingPopup
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 72148807d4..746425cb4e 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -412,20 +412,20 @@
openpilot Unavailable
-
- Waiting for controls to start
-
-
TAKE CONTROL IMMEDIATELY
- Controls Unresponsive
+ Reboot Device
- Reboot Device
+ Waiting to start
+
+
+
+ System Unresponsive
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 976b58b31d..ec1884521b 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -413,22 +413,22 @@
openpilot Unavailable
无法使用 openpilot
-
- Waiting for controls to start
- 等待控制服务啟動
-
TAKE CONTROL IMMEDIATELY
立即接管
-
- Controls Unresponsive
- 控制服务无响应
-
Reboot Device
重启设备
+
+ Waiting to start
+
+
+
+ System Unresponsive
+
+
PairingPopup
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index de8d3ff701..835a0af30f 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -413,22 +413,22 @@
openpilot Unavailable
無法使用 openpilot
-
- Waiting for controls to start
- 等待操控服務開始
-
TAKE CONTROL IMMEDIATELY
立即接管
-
- Controls Unresponsive
- 操控服務沒有反應
-
Reboot Device
請重新啟裝置
+
+ Waiting to start
+
+
+
+ System Unresponsive
+
+
PairingPopup