OnroadHud: update engageability and DM icons at 2Hz (#23134)

old-commit-hash: 5ab6bff670

selfdrive/ui/qt/onroad.cc

@@ -184,10 +184,14 @@ void OnroadHud::updateState(const UIState &s) {
   setProperty("speed", QString::number(std::nearbyint(cur_speed)));
   setProperty("maxSpeed", maxspeed_str);
   setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
-  setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
   setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
-  setProperty("engageable", cs.getEngageable());
   setProperty("status", s.status);
+
+  // update engageability and DM icons at 2Hz
+  if (sm.frame % (UI_FREQ / 2) == 0) {
+    setProperty("engageable", cs.getEngageable() || cs.getEnabled());
+    setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
+  }
 }
 
 void OnroadHud::paintEvent(QPaintEvent *event) {

selfdrive/ui/ui.cc

@@ -110,12 +110,6 @@ static void update_state(UIState *s) {
   UIScene &scene = s->scene;
   s->running_time = 1e-9 * (nanos_since_boot() - sm["deviceState"].getDeviceState().getStartedMonoTime());
 
-  // update engageability and DM icons at 2Hz
-  if (sm.frame % (UI_FREQ / 2) == 0) {
-    auto cs = sm["controlsState"].getControlsState();
-    scene.engageable = cs.getEngageable() || cs.getEnabled();
-    scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
-  }
   if (sm.updated("modelV2") && s->vg) {
     update_model(s, sm["modelV2"].getModelV2());
   }

selfdrive/ui/ui.h

@@ -109,8 +109,6 @@ typedef struct UIScene {
   line_vertices_data lane_line_vertices[4];
   line_vertices_data road_edge_vertices[2];
 
-  bool dm_active, engageable;
-
   // lead
   vertex_data lead_vertices[2];