common function get_alert

selfdrive/ui/qt/onroad.cc

@@ -40,24 +40,13 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 }
 
 void OnroadWindow::updateState(const UIState &s) {
-  SubMaster &sm = *(s.sm);
   QColor bgColor = bg_colors[s.status];
-  if (sm.updated("controlsState")) {
-    const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-    alerts->updateAlert({QString::fromStdString(cs.getAlertText1()),
-                 QString::fromStdString(cs.getAlertText2()),
-                 QString::fromStdString(cs.getAlertType()),
-                 cs.getAlertSize(), cs.getAlertSound()}, bgColor);
-  } else if ((sm.frame - s.scene.started_frame) > 5 * UI_FREQ) {
-    // Handle controls timeout
-    if (sm.rcv_frame("controlsState") < s.scene.started_frame) {
-      // car is started, but controlsState hasn't been seen at all
-      alerts->updateAlert(CONTROLS_WAITING_ALERT, bgColor);
-    } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
-      // car is started, but controls is lagging or died
+  auto alert = get_alert(*(s.sm), s.scene.started_frame);
+  if (alert) {
+    if (alert->type == "controlsUnresponsive") {
       bgColor = bg_colors[STATUS_ALERT];
-      alerts->updateAlert(CONTROLS_UNRESPONSIVE_ALERT, bgColor);
     }
+    alerts->updateAlert(*alert, bgColor);
   }
   if (bg != bgColor) {
     // repaint border

selfdrive/ui/soundd.cc

@@ -59,12 +59,12 @@ public:
       }
     }
 
-    auto cs = sm["controlsState"].getControlsState();
-    if (sm.updated("controlsState")) {
-      setAlert(cs.getAlertType().cStr(), cs.getAlertSound());
-    } else if (sm.rcv_frame("controlsState") > 0 && cs.getEnabled() &&
-               ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT)) {
-      setAlert(CONTROLS_UNRESPONSIVE_ALERT.type, CONTROLS_UNRESPONSIVE_ALERT.sound);
+    auto alert = get_alert(sm, 0);
+    if (alert) {
+      setAlert((*alert).type, (*alert).sound);
+    } else {
+      // stop alert.
+      setAlert("", AudibleAlert::NONE);
     }
   }
 

selfdrive/ui/ui.h

@@ -2,6 +2,7 @@
 
 #include <map>
 #include <memory>
+#include <optional>
 #include <string>
 
 #include <QObject>
@@ -26,6 +27,8 @@
 #define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
 #define COLOR_RED nvgRGBA(201, 34, 49, 255)
 
+const int UI_FREQ = 20;   // Hz
+
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 // TODO: this is also hardcoded in common/transformations/camera.py
@@ -62,14 +65,30 @@ const Alert CONTROLS_WAITING_ALERT = {"openpilot Unavailable", "Waiting for cont
 const Alert CONTROLS_UNRESPONSIVE_ALERT = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
                                            "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
                                            AudibleAlert::CHIME_WARNING_REPEAT};
+inline std::optional<Alert> get_alert(const SubMaster &sm, uint64_t started_frame) {
   const int CONTROLS_TIMEOUT = 5;
 
+  if (sm.updated("controlsState")) {
+    const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
+    return Alert{cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), cs.getAlertType().cStr(),
+                 cs.getAlertSize(), cs.getAlertSound()};
+  } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
+    // Handle controls timeout
+    if (sm.rcv_frame("controlsState") < started_frame) {
+      // car is started, but controlsState hasn't been seen at all
+      return CONTROLS_WAITING_ALERT;
+    } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
+      // car is started, but controls is lagging or died
+      return CONTROLS_UNRESPONSIVE_ALERT;
+    }
+  }
+  return std::nullopt;
+}
+
 const int bdr_s = 30;
 const int header_h = 420;
 const int footer_h = 280;
 
-const int UI_FREQ = 20;   // Hz
-
 typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_ENGAGED,