UI: remove duplicate capnp readers (#20855)

* refactor submaster

* rebase master

* CAPNP best pratice

* zero initialize

* vwp_w has not been initialized before UIState()

* no static

* rebase master

* Minimize refactoring

* cleanup

* remove gpsOk

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

cereal

@@ -1 +1 @@
-Subproject commit 4ecee78a761c5421a5a677aa802175ca19527426
+Subproject commit a6f4b6351d70e74220ffa7d9af917c3dea08a2ce

selfdrive/ui/paint.cc

@@ -73,16 +73,15 @@ static void ui_draw_circle_image(const UIState *s, int center_x, int center_y, i
   ui_draw_circle_image(s, center_x, center_y, radius, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha);
 }
 
-static void draw_lead(UIState *s, int idx) {
+static void draw_lead(UIState *s, const cereal::RadarState::LeadData::Reader &lead_data, const vertex_data &vd) {
   // Draw lead car indicator
-  const auto &lead = s->scene.lead_data[idx];
+  auto [x, y] = vd;
-  auto [x, y] = s->scene.lead_vertices[idx];
 
   float fillAlpha = 0;
   float speedBuff = 10.;
   float leadBuff = 40.;
-  float d_rel = lead.getDRel();
+  float d_rel = lead_data.getDRel();
-  float v_rel = lead.getVRel();
+  float v_rel = lead_data.getVRel();
   if (d_rel < leadBuff) {
     fillAlpha = 255*(1.0-(d_rel/leadBuff));
     if (v_rel < 0) {
@@ -173,7 +172,6 @@ static void ui_draw_vision_lane_lines(UIState *s) {
 
 // Draw all world space objects.
 static void ui_draw_world(UIState *s) {
-  const UIScene *scene = &s->scene;
   // Don't draw on top of sidebar
   nvgScissor(s->vg, s->viz_rect.x, s->viz_rect.y, s->viz_rect.w, s->viz_rect.h);
 
@@ -182,11 +180,14 @@ static void ui_draw_world(UIState *s) {
 
   // Draw lead indicators if openpilot is handling longitudinal
   if (s->scene.longitudinal_control) {
-    if (scene->lead_data[0].getStatus()) {
+    auto radar_state = (*s->sm)["radarState"].getRadarState();
-      draw_lead(s, 0);
+    auto lead_one = radar_state.getLeadOne();
+    auto lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      draw_lead(s, lead_one, s->scene.lead_vertices[0]);
     }
-    if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-      draw_lead(s, 1);
+      draw_lead(s, lead_two, s->scene.lead_vertices[1]);
     }
   }
   nvgResetScissor(s->vg);
@@ -194,7 +195,7 @@ static void ui_draw_world(UIState *s) {
 
 static void ui_draw_vision_maxspeed(UIState *s) {
   const int SET_SPEED_NA = 255;
-  float maxspeed = s->scene.controls_state.getVCruise();
+  float maxspeed = (*s->sm)["controlsState"].getControlsState().getVCruise();
   const bool is_cruise_set = maxspeed != 0 && maxspeed != SET_SPEED_NA;
   if (is_cruise_set && !s->scene.is_metric) { maxspeed *= 0.6225; }
 
@@ -213,7 +214,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
 }
 
 static void ui_draw_vision_speed(UIState *s) {
-  const float speed = std::max(0.0, s->scene.car_state.getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
+  const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
   ui_draw_text(s, s->viz_rect.centerX(), 240, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
@@ -221,7 +222,7 @@ static void ui_draw_vision_speed(UIState *s) {
 }
 
 static void ui_draw_vision_event(UIState *s) {
-  if (s->scene.controls_state.getEngageable()) {
+  if ((*s->sm)["controlsState"].getControlsState().getEngageable()) {
     // draw steering wheel
     const int radius = 96;
     const int center_x = s->viz_rect.right() - radius - bdr_s * 2;
@@ -234,7 +235,8 @@ static void ui_draw_vision_face(UIState *s) {
   const int radius = 96;
   const int center_x = s->viz_rect.x + radius + (bdr_s * 2);
   const int center_y = s->viz_rect.bottom() - footer_h / 2;
-  ui_draw_circle_image(s, center_x, center_y, radius, "driver_face", s->scene.dmonitoring_state.getIsActiveMode());
+  bool is_active = (*s->sm)["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
+  ui_draw_circle_image(s, center_x, center_y, radius, "driver_face", is_active);
 }
 
 static void ui_draw_driver_view(UIState *s) {
@@ -252,9 +254,10 @@ static void ui_draw_driver_view(UIState *s) {
   ui_fill_rect(s->vg, {blackout_x_l, rect.y, blackout_w_l, rect.h}, COLOR_BLACK_ALPHA(144));
   ui_fill_rect(s->vg, {blackout_x_r, rect.y, blackout_w_r, rect.h}, COLOR_BLACK_ALPHA(144));
 
-  const bool face_detected = s->scene.driver_state.getFaceProb() > 0.4;
+  auto driver_state = (*s->sm)["driverState"].getDriverState();
+  const bool face_detected = driver_state.getFaceProb() > 0.4;
   if (face_detected) {
-    auto fxy_list = s->scene.driver_state.getFacePosition();
+    auto fxy_list = driver_state.getFacePosition();
     float face_x = fxy_list[0];
     float face_y = fxy_list[1];
     int fbox_x = valid_rect.centerX() + (is_rhd ? face_x : -face_x) * valid_rect.w;
@@ -308,7 +311,7 @@ static void ui_draw_vision(UIState *s) {
     }
     // Set Speed, Current Speed, Status/Events
     ui_draw_vision_header(s);
-    if (s->scene.controls_state.getAlertSize() == cereal::ControlsState::AlertSize::NONE) {
+    if ((*s->sm)["controlsState"].getControlsState().getAlertSize() == cereal::ControlsState::AlertSize::NONE) {
       ui_draw_vision_face(s);
     }
   } else {

selfdrive/ui/qt/onroad.cc

@@ -44,7 +44,7 @@ void OnroadAlerts::updateState(const UIState &s) {
     volume = util::map_val(sm["carState"].getCarState().getVEgo(), 0.f, 20.f,
                            Hardware::MIN_VOLUME, Hardware::MAX_VOLUME);
   }
-  if (s.scene.deviceState.getStarted()) {
+  if (sm["deviceState"].getDeviceState().getStarted()) {
     if (sm.updated("controlsState")) {
       const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
       updateAlert(QString::fromStdString(cs.getAlertText1()), QString::fromStdString(cs.getAlertText2()),

selfdrive/ui/qt/sidebar.cc

@@ -61,17 +61,18 @@ void Sidebar::update(const UIState &s) {
     repaint();
   }
 
-  net_type = s.scene.deviceState.getNetworkType();
+  auto deviceState = (*s.sm)["deviceState"].getDeviceState();
-  strength = s.scene.deviceState.getNetworkStrength();
+  net_type = deviceState.getNetworkType();
+  strength = deviceState.getNetworkStrength();
 
   temp_status = danger_color;
-  auto ts = s.scene.deviceState.getThermalStatus();
+  auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
     temp_status = good_color;
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
     temp_status = warning_color;
   }
-  temp_val = (int)s.scene.deviceState.getAmbientTempC();
+  temp_val = (int)deviceState.getAmbientTempC();
 
   panda_str = "VEHICLE\nONLINE";
   panda_status = good_color;
@@ -80,7 +81,7 @@ void Sidebar::update(const UIState &s) {
     panda_str = "NO\nPANDA";
   } else if (Hardware::TICI() && s.scene.started) {
     panda_str = QString("SAT CNT\n%1").arg(s.scene.satelliteCount);
-    panda_status = s.scene.gpsOK ? good_color : warning_color;
+    panda_status = (*s.sm)["liveLocationKalman"].getLiveLocationKalman().getGpsOK() ? good_color : warning_color;
   }
 
   if (s.sm->updated("deviceState") || s.sm->updated("pandaState")) {

selfdrive/ui/ui.cc

@@ -72,7 +72,6 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
       // negative because radarState uses left positive convention
       calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
     }
-    s->scene.lead_data[i] = lead_data;
   }
 }
 
@@ -114,8 +113,9 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
   }
 
   // update path
-  if (scene.lead_data[0].getStatus()) {
+  auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
-    const float lead_d = scene.lead_data[0].getDRel() * 2.;
+  if (lead_one.getStatus()) {
+    const float lead_d = lead_one.getDRel() * 2.;
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
   max_idx = get_path_length_idx(model_position, max_distance);
@@ -123,20 +123,13 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
 }
 
 static void update_sockets(UIState *s){
-  SubMaster &sm = *(s->sm);
+  s->sm->update(0);
-  sm.update(0);
 }
 
 static void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
-
   UIScene &scene = s->scene;
-  if (scene.started && sm.updated("controlsState")) {
+
-    scene.controls_state = sm["controlsState"].getControlsState();
-  }
-  if (sm.updated("carState")) {
-    scene.car_state = sm["carState"].getCarState();
-  }
   if (sm.updated("radarState")) {
     std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
     if (sm.rcv_frame("modelV2") > 0) {
@@ -164,9 +157,6 @@ static void update_state(UIState *s) {
   if (sm.updated("modelV2")) {
     update_model(s, sm["modelV2"].getModelV2());
   }
-  if (sm.updated("deviceState")) {
-    scene.deviceState = sm["deviceState"].getDeviceState();
-  }
   if (sm.updated("pandaState")) {
     auto pandaState = sm["pandaState"].getPandaState();
     scene.pandaType = pandaState.getPandaType();
@@ -180,18 +170,9 @@ static void update_state(UIState *s) {
       scene.satelliteCount = data.getMeasurementReport().getNumMeas();
     }
   }
-  if (sm.updated("liveLocationKalman")) {
-    scene.gpsOK = sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK();
-  }
   if (sm.updated("carParams")) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
-  if (sm.updated("driverState")) {
-    scene.driver_state = sm["driverState"].getDriverState();
-  }
-  if (sm.updated("driverMonitoringState")) {
-    scene.dmonitoring_state = sm["driverMonitoringState"].getDriverMonitoringState();
-  }
   if (sm.updated("sensorEvents")) {
     for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
       if (!Hardware::TICI() && sensor.which() == cereal::SensorEventData::LIGHT) {
@@ -215,7 +196,7 @@ static void update_state(UIState *s) {
     float gain = camera_state.getGainFrac() * (camera_state.getGlobalGain() > 100 ? 2.5 : 1.0) / 10.0;
     scene.light_sensor = std::clamp<float>((1023.0 / 1757.0) * (1757.0 - camera_state.getIntegLines()) * (1.0 - gain), 0.0, 1023.0);
   }
-  scene.started = scene.deviceState.getStarted() || scene.driver_view;
+  scene.started = sm["deviceState"].getDeviceState().getStarted() || scene.driver_view;
 }
 
 static void update_params(UIState *s) {
@@ -245,13 +226,14 @@ static void update_vision(UIState *s) {
 
 static void update_status(UIState *s) {
   if (s->scene.started && s->sm->updated("controlsState")) {
-    auto alert_status = s->scene.controls_state.getAlertStatus();
+    auto controls_state = (*s->sm)["controlsState"].getControlsState();
+    auto alert_status = controls_state.getAlertStatus();
     if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
       s->status = STATUS_WARNING;
     } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
       s->status = STATUS_ALERT;
     } else {
-      s->status = s->scene.controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      s->status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
   }
 

selfdrive/ui/ui.h

@@ -81,16 +81,8 @@ typedef struct UIScene {
 
   cereal::PandaState::PandaType pandaType;
 
-  cereal::DeviceState::Reader deviceState;
-  cereal::RadarState::LeadData::Reader lead_data[2];
-  cereal::CarState::Reader car_state;
-  cereal::ControlsState::Reader controls_state;
-  cereal::DriverState::Reader driver_state;
-  cereal::DriverMonitoringState::Reader dmonitoring_state;
-
   // gps
   int satelliteCount;
-  bool gpsOK;
 
   // modelV2
   float lane_line_probs[4];