From 53c76849563fcd2f11baee8a86fb982a024bdeea Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 6 Dec 2021 04:54:35 +0800
Subject: [PATCH] OnroadHud: update engageability and DM icons at 2Hz (#23134)

old-commit-hash: 5ab6bff67016585edbbec134123c54db2e471599
---
 selfdrive/ui/qt/onroad.cc | 8 ++++++--
 selfdrive/ui/ui.cc        | 6 ------
 selfdrive/ui/ui.h         | 2 --
 3 files changed, 6 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index c5704007a0..41c0012a11 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/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) {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 7a4de06586..f9a473bc83 100644
--- a/selfdrive/ui/ui.cc
+++ b/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());
   }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index ef02a30f26..52ba882c2b 100644
--- a/selfdrive/ui/ui.h
+++ b/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];