return Alert

selfdrive/ui/qt/onroad.cc

@@ -41,12 +41,11 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 
 void OnroadWindow::updateState(const UIState &s) {
   QColor bgColor = bg_colors[s.status];
-  if (auto alert = Alert::get(*(s.sm), s.scene.started_frame)) {
-    if (alert->type == "controlsUnresponsive") {
-      bgColor = bg_colors[STATUS_ALERT];
-    }
-    alerts->updateAlert(*alert, bgColor);
+  auto alert = Alert::get(*(s.sm), s.scene.started_frame);
+  if (alert.type == "controlsUnresponsive") {
+    bgColor = bg_colors[STATUS_ALERT];
   }
+  alerts->updateAlert(alert, bgColor);
   if (bg != bgColor) {
     // repaint border
     bg = bgColor;

selfdrive/ui/soundd/sound.cc

@@ -38,11 +38,8 @@ void Sound::update() {
     }
   }
 
-  if (auto alert = Alert::get(sm, 1)) {
-    setAlert(alert->type, alert->sound);
-  } else {
-    setAlert({}, AudibleAlert::NONE);
-  }
+  auto alert = Alert::get(sm, 1);
+  setAlert(alert.type, alert.sound);
 }
 
 void Sound::setAlert(const QString &alert_type, AudibleAlert sound) {

selfdrive/ui/ui.h

@@ -61,10 +61,11 @@ struct Alert {
     return text1 == a2.text1 && text2 == a2.text2 && type == a2.type;
   }
 
-  static std::optional<Alert> get(const SubMaster &sm, uint64_t started_frame) {
+  static Alert get(const SubMaster &sm, uint64_t started_frame) {
+    Alert alert{};
     if (sm.updated("controlsState")) {
       const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-      return Alert{cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+      alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
                cs.getAlertType().cStr(), cs.getAlertSize(),
                cs.getAlertSound()};
     } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
@@ -72,17 +73,17 @@ struct Alert {
       // Handle controls timeout
       if (sm.rcv_frame("controlsState") < started_frame) {
         // car is started, but controlsState hasn't been seen at all
-        return Alert{"openpilot Unavailable", "Waiting for controls to start",
+        alert = {"openpilot Unavailable", "Waiting for controls to start",
                  "controlsWaiting", cereal::ControlsState::AlertSize::MID,
                  AudibleAlert::NONE};
       } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
         // car is started, but controls is lagging or died
-        return Alert{"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
+        alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
                  "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
                  AudibleAlert::CHIME_WARNING_REPEAT};
       }
     }
-    return std::nullopt;
+    return alert;
   }
 };