UI: make onroad/offroad transition more robust (#20030)

* make onroad/offroad transition more robust

* fix up driver view

* check other started

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/ui/ui.cc

@@ -180,8 +180,10 @@ static void update_sockets(UIState *s) {
   }
   if (sm.updated("driverMonitoringState")) {
     scene.dmonitoring_state = sm["driverMonitoringState"].getDriverMonitoringState();
-    scene.frontview = !s->ignition;
-  } else if (scene.frontview && (sm.frame - sm.rcv_frame("driverMonitoringState")) > UI_FREQ/2) {
+    if(!s->scene.frontview && !s->ignition) {
+      read_param(&s->scene.frontview, "IsDriverViewEnabled");
+    }
+  } else if ((sm.frame - sm.rcv_frame("driverMonitoringState")) > UI_FREQ/2) {
     scene.frontview = false;
   }
   if (sm.updated("sensorEvents")) {
@@ -195,11 +197,10 @@ static void update_sockets(UIState *s) {
       }
     }
   }
+  s->started = s->scene.thermal.getStarted() || s->scene.frontview;
 }
 
 static void update_alert(UIState *s) {
-  if (!s->started || s->scene.frontview) return;
-
   UIScene &scene = s->scene;
   if (s->sm->updated("controlsState")) {
     auto alert_sound = scene.controls_state.getAlertSound();
@@ -218,7 +219,7 @@ static void update_alert(UIState *s) {
   }
 
   // Handle controls timeout
-  if ((s->sm->frame - s->started_frame) > 10 * UI_FREQ) {
+  if (s->scene.thermal.getStarted() && (s->sm->frame - s->started_frame) > 10 * UI_FREQ) {
     const uint64_t cs_frame = s->sm->rcv_frame("controlsState");
     if (cs_frame < s->started_frame) {
       // car is started, but controlsState hasn't been seen at all
@@ -256,8 +257,6 @@ static void update_params(UIState *s) {
 
 static void update_vision(UIState *s) {
   if (!s->vipc_client->connected && s->started) {
-    s->vipc_client = s->scene.frontview ? s->vipc_client_front : s->vipc_client_rear;
-
     if (s->vipc_client->connect(false)){
       ui_init_vision(s);
     }
@@ -272,8 +271,6 @@ static void update_vision(UIState *s) {
 }
 
 static void update_status(UIState *s) {
-  s->started = s->scene.thermal.getStarted() || s->scene.frontview;
-
   if (s->started && s->sm->updated("controlsState")) {
     auto alert_status = s->scene.controls_state.getAlertStatus();
     if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
@@ -286,13 +283,9 @@ static void update_status(UIState *s) {
   }
 
   // Handle onroad/offroad transition
-  if (!s->started && s->status != STATUS_OFFROAD) {
-    s->status = STATUS_OFFROAD;
-    s->active_app = cereal::UiLayoutState::App::HOME;
-    s->sidebar_collapsed = false;
-    s->sound->stop();
-    s->vipc_client->connected = false;
-  } else if (s->started && s->status == STATUS_OFFROAD) {
+  static bool started_prev = false;
+  if (s->started != started_prev) {
+    if (s->started) {
       s->status = STATUS_DISENGAGED;
       s->started_frame = s->sm->frame;
 
@@ -300,13 +293,22 @@ static void update_status(UIState *s) {
       s->active_app = cereal::UiLayoutState::App::NONE;
       s->sidebar_collapsed = true;
       s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
+      s->vipc_client = s->scene.frontview ? s->vipc_client_front : s->vipc_client_rear;
+    } else {
+      s->status = STATUS_OFFROAD;
+      s->active_app = cereal::UiLayoutState::App::HOME;
+      s->sidebar_collapsed = false;
+      s->sound->stop();
+      s->vipc_client->connected = false;
+    }
   }
+  started_prev = s->started;
 }
 
 void ui_update(UIState *s) {
   update_params(s);
   update_sockets(s);
-  update_alert(s);
   update_status(s);
+  update_alert(s);
   update_vision(s);
 }