From 1b5c4d908947da2721167f60b43563dcb4844d1e Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 4 Mar 2021 14:40:16 +0100
Subject: [PATCH] ui: check sensor list size

---
 selfdrive/ui/ui.cc | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index f1ae604898..e8e8080e04 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -212,9 +212,15 @@ static void update_sockets(UIState *s) {
       if (sensor.which() == cereal::SensorEventData::LIGHT) {
         scene.light_sensor = sensor.getLight();
       } else if (!scene.started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
-        scene.accel_sensor = sensor.getAcceleration().getV()[2];
+        auto accel = sensor.getAcceleration().getV();
+        if (accel.totalSize().wordCount){ // TODO: sometimes empty lists are received. Figure out why
+          scene.accel_sensor = accel[2];
+        }
       } else if (!scene.started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
-        scene.gyro_sensor = sensor.getGyroUncalibrated().getV()[1];
+        auto gyro = sensor.getGyroUncalibrated().getV();
+        if (gyro.totalSize().wordCount){
+          scene.gyro_sensor = gyro[1];
+        }
       }
     }
   }