Sidebar Connectivity Status (#1268)

* store athena connected-at time

* refactor

* deref

* dt import

* Athena status based on last ping time param

* upd test for pingtime

* lower error timeout

apks

@@ -1 +1 @@
-Subproject commit ac26fd4a343b6a202dc3ddaac6e00feabcf3a506
+Subproject commit d94f8663913f12142754b2501b174c8bcd5996ce

common/params.py

@@ -78,6 +78,7 @@ keys = {
   "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
   "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   "IsUploadRawEnabled": [TxType.PERSISTENT],
+  "LastAthenaPingTime": [TxType.PERSISTENT],
   "LastUpdateTime": [TxType.PERSISTENT],
   "LimitSetSpeed": [TxType.PERSISTENT],
   "LimitSetSpeedNeural": [TxType.PERSISTENT],

selfdrive/athena/athenad.py

@@ -22,6 +22,7 @@ from common import android
 from common.basedir import PERSIST
 from common.api import Api
 from common.params import Params
+from common.realtime import sec_since_boot
 from cereal.services import service_list
 from selfdrive.swaglog import cloudlog
 
@@ -272,8 +273,13 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
 def ws_recv(ws, end_event):
   while not end_event.is_set():
     try:
-      data = ws.recv()
+      opcode, data = ws.recv_data(control_frame=True)
-      payload_queue.put_nowait(data)
+      if opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY):
+        if opcode == ABNF.OPCODE_TEXT:
+          data = data.decode("utf-8")
+        payload_queue.put_nowait(data)
+      elif opcode == ABNF.OPCODE_PING:
+        Params().put("LastAthenaPingTime", str(int(sec_since_boot()*1e9)))
     except WebSocketTimeoutException:
       pass
     except Exception:
@@ -316,6 +322,7 @@ def main():
     except Exception:
       cloudlog.exception("athenad.main.exception")
       conn_retries += 1
+      params.delete("LastAthenaPingTime")
 
     time.sleep(backoff(conn_retries))
 

selfdrive/test/test_openpilot.py

@@ -4,6 +4,7 @@ os.environ['FAKEUPLOAD'] = "1"
 
 from common.apk import update_apks, start_offroad, pm_apply_packages, android_packages
 from common.params import Params
+from common.realtime import sec_since_boot
 from common.testing import phone_only
 from selfdrive.manager import manager_init, manager_prepare
 from selfdrive.manager import start_managed_process, kill_managed_process, get_running
@@ -14,6 +15,7 @@ import requests
 import signal
 import subprocess
 import time
+from datetime import datetime, timedelta
 
 DID_INIT = False
 
@@ -108,6 +110,7 @@ def test_uploader():
 @phone_only
 def test_athena():
   print("ATHENA")
+  start = sec_since_boot()
   start_daemon_process("manage_athenad")
   params = Params()
   manage_athenad_pid = params.get("AthenadPid")
@@ -155,7 +158,7 @@ def test_athena():
         else:
           print(f'athena_post failed {e}. retrying...')
 
-  def expect_athena_registers():
+  def expect_athena_registers(test_t0):
     resp = athena_post({
       "method": "echo",
       "params": ["hello"],
@@ -164,6 +167,10 @@ def test_athena():
     }, max_retries=12, wait=5)
     assert resp.get('result') == "hello", f'Athena failed to register ({resp})'
 
+    last_pingtime = params.get("LastAthenaPingTime", encoding='utf8')
+    assert last_pingtime, last_pingtime
+    assert ((int(last_pingtime)/1e9) - test_t0) < (sec_since_boot() - test_t0)
+
   try:
     athenad_pid = expect_athena_starts()
     # kill athenad and ensure it is restarted (check_output will throw if it is not)
@@ -174,7 +181,7 @@ def test_athena():
       print('WARNING: COMMA_JWT env not set, will not test requests to athena.comma.ai')
       return
 
-    expect_athena_registers()
+    expect_athena_registers(start)
 
     print("ATHENA: getSimInfo")
     resp = athena_post({

selfdrive/ui/paint.cc

@@ -771,8 +771,8 @@ void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
   const UIScene *scene = &s->scene;
   int ui_viz_rx = scene->ui_viz_rx;
   int ui_viz_rw = scene->ui_viz_rw;
-  bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
+  const bool hasSidebar = !scene->uilayout_sidebarcollapsed;
-  bool mapEnabled = s->scene.uilayout_mapenabled;
+  const bool mapEnabled = scene->uilayout_mapenabled;
   bool longAlert1 = strlen(va_text1) > 15;
 
   const uint8_t *color = alert_colors[va_color];

selfdrive/ui/sidebar.cc

@@ -3,8 +3,8 @@
 #include <math.h>
 #include "ui.hpp"
 
-static void ui_draw_sidebar_background(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_background(UIState *s) {
-  int sbr_x = hasSidebar ? 0 : -(sbr_w) + bdr_s * 2;
+  int sbr_x = !s->scene.uilayout_sidebarcollapsed ? 0 : -(sbr_w) + bdr_s * 2;
 
   nvgBeginPath(s->vg);
   nvgRect(s->vg, sbr_x, 0, sbr_w, vwp_h);
@@ -12,9 +12,9 @@ static void ui_draw_sidebar_background(UIState *s, bool hasSidebar) {
   nvgFill(s->vg);
 }
 
-static void ui_draw_sidebar_settings_button(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_settings_button(UIState *s) {
   bool settingsActive = s->active_app == cereal_UiLayoutState_App_settings;
-  const int settings_btn_xr = hasSidebar ? settings_btn_x : -(sbr_w);
+  const int settings_btn_xr = !s->scene.uilayout_sidebarcollapsed ? settings_btn_x : -(sbr_w);
 
   nvgBeginPath(s->vg);
   NVGpaint imgPaint = nvgImagePattern(s->vg, settings_btn_xr, settings_btn_y,
@@ -24,9 +24,9 @@ static void ui_draw_sidebar_settings_button(UIState *s, bool hasSidebar) {
   nvgFill(s->vg);
 }
 
-static void ui_draw_sidebar_home_button(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_home_button(UIState *s) {
   bool homeActive = s->active_app == cereal_UiLayoutState_App_home;
-  const int home_btn_xr = hasSidebar ? home_btn_x : -(sbr_w);
+  const int home_btn_xr = !s->scene.uilayout_sidebarcollapsed ? home_btn_x : -(sbr_w);
 
   nvgBeginPath(s->vg);
   NVGpaint imgPaint = nvgImagePattern(s->vg, home_btn_xr, home_btn_y,
@@ -36,10 +36,10 @@ static void ui_draw_sidebar_home_button(UIState *s, bool hasSidebar) {
   nvgFill(s->vg);
 }
 
-static void ui_draw_sidebar_network_strength(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_network_strength(UIState *s) {
   const int network_img_h = 27;
   const int network_img_w = 176;
-  const int network_img_x = hasSidebar ? 58 : -(sbr_w);
+  const int network_img_x = !s->scene.uilayout_sidebarcollapsed ? 58 : -(sbr_w);
   const int network_img_y = 196;
   const int network_img = s->scene.networkType == cereal_ThermalData_NetworkType_none ?
                           s->img_network[0] : s->img_network[s->scene.networkStrength + 1];
@@ -52,10 +52,10 @@ static void ui_draw_sidebar_network_strength(UIState *s, bool hasSidebar) {
   nvgFill(s->vg);
 }
 
-static void ui_draw_sidebar_battery_icon(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_battery_icon(UIState *s) {
   const int battery_img_h = 36;
   const int battery_img_w = 76;
-  const int battery_img_x = hasSidebar ? 160 : -(sbr_w);
+  const int battery_img_x = !s->scene.uilayout_sidebarcollapsed ? 160 : -(sbr_w);
   const int battery_img_y = 255;
 
   int battery_img = strcmp(s->scene.batteryStatus, "Charging") == 0 ?
@@ -75,8 +75,8 @@ static void ui_draw_sidebar_battery_icon(UIState *s, bool hasSidebar) {
   nvgFill(s->vg);
 }
 
-static void ui_draw_sidebar_network_type(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_network_type(UIState *s) {
-  const int network_x = hasSidebar ? 50 : -(sbr_w);
+  const int network_x = !s->scene.uilayout_sidebarcollapsed ? 50 : -(sbr_w);
   const int network_y = 273;
   const int network_w = 100;
   const int network_h = 100;
@@ -94,8 +94,8 @@ static void ui_draw_sidebar_network_type(UIState *s, bool hasSidebar) {
   nvgTextBox(s->vg, network_x, network_y, network_w, network_type_str, NULL);
 }
 
-static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char* value_str, const int severity, const int y_offset, const char* message_str, bool hasSidebar) {
+static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char* value_str, const int severity, const int y_offset, const char* message_str) {
-  const int metric_x = hasSidebar ? 30 : -(sbr_w);
+  const int metric_x = !s->scene.uilayout_sidebarcollapsed ? 30 : -(sbr_w);
   const int metric_y = 338 + y_offset;
   const int metric_w = 240;
   const int metric_h = message_str ? strchr(message_str, '\n') ? 124 : 100 : 148;
@@ -142,7 +142,7 @@ static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char
   }
 }
 
-static void ui_draw_sidebar_temp_metric(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_temp_metric(UIState *s) {
   int temp_severity;
   char temp_label_str[32];
   char temp_value_str[32];
@@ -164,10 +164,10 @@ static void ui_draw_sidebar_temp_metric(UIState *s, bool hasSidebar) {
   snprintf(temp_label_str, sizeof(temp_label_str), "%s", "TEMP");
   strcat(temp_value_str, temp_value_unit);
 
-  ui_draw_sidebar_metric(s, temp_label_str, temp_value_str, temp_severity, temp_y_offset, NULL, hasSidebar);
+  ui_draw_sidebar_metric(s, temp_label_str, temp_value_str, temp_severity, temp_y_offset, NULL);
 }
 
-static void ui_draw_sidebar_panda_metric(UIState *s, bool hasSidebar) {
+static void ui_draw_sidebar_panda_metric(UIState *s) {
   int panda_severity;
   char panda_message_str[32];
   const int panda_y_offset = 32 + 148;
@@ -194,17 +194,27 @@ static void ui_draw_sidebar_panda_metric(UIState *s, bool hasSidebar) {
       }
   }
 
-  ui_draw_sidebar_metric(s, NULL, NULL, panda_severity, panda_y_offset, panda_message_str, hasSidebar);
+  ui_draw_sidebar_metric(s, NULL, NULL, panda_severity, panda_y_offset, panda_message_str);
+}
+
+static void ui_draw_sidebar_connectivity(UIState *s) {
+  if (s->scene.athenaStatus == NET_DISCONNECTED) {
+    ui_draw_sidebar_metric(s, NULL, NULL, 1, 180+158, "ATHENA\nOFFLINE");
+  } else if (s->scene.athenaStatus == NET_CONNECTED) {
+    ui_draw_sidebar_metric(s, NULL, NULL, 0, 180+158, "ATHENA\nONLINE");
+  } else {
+    ui_draw_sidebar_metric(s, NULL, NULL, 2, 180+158, "ATHENA\nERROR");
+  }
 }
 
 void ui_draw_sidebar(UIState *s) {
-  bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
+  ui_draw_sidebar_background(s);
-  ui_draw_sidebar_background(s, hasSidebar);
+  ui_draw_sidebar_settings_button(s);
-  ui_draw_sidebar_settings_button(s, hasSidebar);
+  ui_draw_sidebar_home_button(s);
-  ui_draw_sidebar_home_button(s, hasSidebar);
+  ui_draw_sidebar_network_strength(s);
-  ui_draw_sidebar_network_strength(s, hasSidebar);
+  ui_draw_sidebar_battery_icon(s);
-  ui_draw_sidebar_battery_icon(s, hasSidebar);
+  ui_draw_sidebar_network_type(s);
-  ui_draw_sidebar_network_type(s, hasSidebar);
+  ui_draw_sidebar_temp_metric(s);
-  ui_draw_sidebar_temp_metric(s, hasSidebar);
+  ui_draw_sidebar_panda_metric(s);
-  ui_draw_sidebar_panda_metric(s, hasSidebar);
+  ui_draw_sidebar_connectivity(s);
 }

selfdrive/ui/ui.cc

@@ -132,6 +132,16 @@ static void read_param_float(float* param, const char* param_name) {
   }
 }
 
+static int read_param_uint64(uint64_t* dest, const char* param_name) {
+  char *s;
+  const int result = read_db_value(NULL, param_name, &s, NULL);
+  if (result == 0) {
+    *dest = strtoull(s, NULL, 0);
+    free(s);
+  }
+  return result;
+}
+
 static void read_param_bool_timeout(bool* param, const char* param_name, int* timeout) {
   if (*timeout > 0){
     (*timeout)--;
@@ -150,6 +160,16 @@ static void read_param_float_timeout(float* param, const char* param_name, int*
   }
 }
 
+static int read_param_uint64_timeout(uint64_t* dest, const char* param_name, int* timeout) {
+  if (*timeout > 0){
+    (*timeout)--;
+    return 0;
+  } else {
+    return read_param_uint64(dest, param_name);
+    *timeout = 2 * UI_FREQ; // 0.5Hz
+  }
+}
+
 static void ui_init(UIState *s) {
   memset(s, 0, sizeof(UIState));
 
@@ -1026,7 +1046,14 @@ int main(int argc, char* argv[]) {
     read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
     read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
     read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
-
+    int param_read = read_param_uint64_timeout(&s->last_athena_ping, "LastAthenaPingTime", &s->last_athena_ping_timeout);
+    if (param_read != 0) {
+      s->scene.athenaStatus = NET_DISCONNECTED;
+    } else if (nanos_since_boot() - s->last_athena_ping < 70e9) {
+      s->scene.athenaStatus = NET_CONNECTED;
+    } else {
+      s->scene.athenaStatus = NET_ERROR;
+    }
     pthread_mutex_unlock(&s->lock);
 
     // the bg thread needs to be scheduled, so the main thread needs time without the lock

selfdrive/ui/ui.hpp

@@ -33,6 +33,10 @@
 #define STATUS_WARNING 3
 #define STATUS_ALERT 4
 
+#define NET_CONNECTED 0
+#define NET_DISCONNECTED 1
+#define NET_ERROR 2
+
 #define ALERTSIZE_NONE 0
 #define ALERTSIZE_SMALL 1
 #define ALERTSIZE_MID 2
@@ -157,6 +161,7 @@ typedef struct UIScene {
   int paTemp;
   int hwType;
   int satelliteCount;
+  uint8_t athenaStatus;
 } UIScene;
 
 typedef struct {
@@ -257,9 +262,11 @@ typedef struct UIState {
   int longitudinal_control_timeout;
   int limit_set_speed_timeout;
   int hardware_timeout;
+  int last_athena_ping_timeout;
 
   bool controls_seen;
 
+  uint64_t last_athena_ping;
   int status;
   bool is_metric;
   bool longitudinal_control;