From 573e1ddbc48242cb4cc16e7445e7b97abf738df7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 11 Jul 2023 17:26:57 +0800
Subject: [PATCH] ui: capnp best practices (#28877)

old-commit-hash: d34138e2759e8067e9d7d005957e29a23684c71c
---
 selfdrive/ui/qt/onroad.cc |  4 ++--
 selfdrive/ui/ui.cc        | 14 ++++++++------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index eaef8b9225..4f144f667f 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -625,9 +625,9 @@ void AnnotatedCameraWidget::paintGL() {
 
   if (s->worldObjectsVisible()) {
     if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
-      update_model(s, sm["modelV2"].getModelV2(), sm["uiPlan"].getUiPlan());
+      update_model(s, model, sm["uiPlan"].getUiPlan());
       if (sm.rcv_frame("radarState") > s->scene.started_frame) {
-        update_leads(s, radar_state, sm["modelV2"].getModelV2().getPosition());
+        update_leads(s, radar_state, model.getPosition());
       }
     }
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index e16f1c3efe..c4586c1ff5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -79,7 +79,7 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
   *pvd = left_points + right_points;
 }
 
-void update_model(UIState *s, 
+void update_model(UIState *s,
                   const cereal::ModelDataV2::Reader &model,
                   const cereal::UiPlan::Reader &plan) {
   UIScene &scene = s->scene;
@@ -159,8 +159,9 @@ static void update_state(UIState *s) {
   UIScene &scene = s->scene;
 
   if (sm.updated("liveCalibration")) {
-    auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
-    auto wfde_list = sm["liveCalibration"].getLiveCalibration().getWideFromDeviceEuler();
+    auto live_calib = sm["liveCalibration"].getLiveCalibration();
+    auto rpy_list = live_calib.getRpyCalib();
+    auto wfde_list = live_calib.getWideFromDeviceEuler();
     Eigen::Vector3d rpy;
     Eigen::Vector3d wfde;
     if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2];
@@ -179,7 +180,7 @@ static void update_state(UIState *s) {
         scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j);
       }
     }
-    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
+    scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
     scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {
@@ -201,8 +202,9 @@ static void update_state(UIState *s) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
   if (sm.updated("wideRoadCameraState")) {
-    float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
-    scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
+    auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
+    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 }