From 21ee6d25c7f84be810a6ed31cc2cf5aa94a89c11 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 4 Jan 2022 09:35:05 +0800
Subject: [PATCH] ui: emit offroadTransition in UIState::updateStatus (#23265)

---
 selfdrive/ui/ui.cc | 38 +++++++++++++++++---------------------
 selfdrive/ui/ui.h  |  1 +
 2 files changed, 18 insertions(+), 21 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 5c67d5f474..3d8f50e238 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -184,33 +184,34 @@ void ui_update_params(UIState *s) {
   s->scene.is_metric = Params().getBool("IsMetric");
 }
 
-static void update_status(UIState *s) {
-  if (s->scene.started && s->sm->updated("controlsState")) {
-    auto controls_state = (*s->sm)["controlsState"].getControlsState();
+void UIState::updateStatus() {
+  if (scene.started && sm->updated("controlsState")) {
+    auto controls_state = (*sm)["controlsState"].getControlsState();
     auto alert_status = controls_state.getAlertStatus();
     if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
-      s->status = STATUS_WARNING;
+      status = STATUS_WARNING;
     } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
-      s->status = STATUS_ALERT;
+      status = STATUS_ALERT;
     } else {
-      s->status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
   }
 
   // Handle onroad/offroad transition
-  static bool started_prev = false;
-  if (s->scene.started != started_prev) {
-    if (s->scene.started) {
-      s->status = STATUS_DISENGAGED;
-      s->scene.started_frame = s->sm->frame;
-      s->scene.end_to_end = Params().getBool("EndToEndToggle");
-      s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
+  if (scene.started != started_prev) {
+    if (scene.started) {
+      status = STATUS_DISENGAGED;
+      scene.started_frame = sm->frame;
+      scene.end_to_end = Params().getBool("EndToEndToggle");
+      wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
     }
+    started_prev = scene.started;
+    emit offroadTransition(!scene.started);
+  } else if (sm->frame == 1) {
+    emit offroadTransition(!scene.started);
   }
-  started_prev = s->scene.started;
 }
 
-
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
@@ -230,12 +231,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
 void UIState::update() {
   update_sockets(this);
   update_state(this);
-  update_status(this);
-
-  if (scene.started != started_prev || sm->frame == 1) {
-    started_prev = scene.started;
-    emit offroadTransition(!scene.started);
-  }
+  updateStatus();
 
   if (sm->frame % UI_FREQ == 0) {
     watchdog_kick();
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 01e4253024..b215bfa9b5 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -113,6 +113,7 @@ class UIState : public QObject {
 
 public:
   UIState(QObject* parent = 0);
+  void updateStatus();
   inline bool worldObjectsVisible() const { 
     return sm->rcv_frame("liveCalibration") > scene.started_frame;
   };