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ui: capnp best practices (#28877)

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old-commit-hash: d34138e275
beeps
Dean Lee 2 years ago committed by GitHub
parent 22b1baff64
commit 573e1ddbc4
2 changed files with 10 additions and 8 deletions
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  1. 4
      selfdrive/ui/qt/onroad.cc
  2. 14
      selfdrive/ui/ui.cc

4
selfdrive/ui/qt/onroad.cc
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@ -625,9 +625,9 @@ void AnnotatedCameraWidget::paintGL() {
if (s->worldObjectsVisible()) { if (s->worldObjectsVisible()) {
if (sm.rcv_frame("modelV2") > s->scene.started_frame) { 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) { 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());
} }
} }

14
selfdrive/ui/ui.cc
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@ -79,7 +79,7 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
*pvd = left_points + right_points; *pvd = left_points + right_points;
} }
void update_model(UIState *s, void update_model(UIState *s,
const cereal::ModelDataV2::Reader &model, const cereal::ModelDataV2::Reader &model,
const cereal::UiPlan::Reader &plan) { const cereal::UiPlan::Reader &plan) {
UIScene &scene = s->scene; UIScene &scene = s->scene;
@ -159,8 +159,9 @@ static void update_state(UIState *s) {
UIScene &scene = s->scene; UIScene &scene = s->scene;
if (sm.updated("liveCalibration")) { if (sm.updated("liveCalibration")) {
auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); auto live_calib = sm["liveCalibration"].getLiveCalibration();
auto wfde_list = sm["liveCalibration"].getLiveCalibration().getWideFromDeviceEuler(); auto rpy_list = live_calib.getRpyCalib();
auto wfde_list = live_calib.getWideFromDeviceEuler();
Eigen::Vector3d rpy; Eigen::Vector3d rpy;
Eigen::Vector3d wfde; Eigen::Vector3d wfde;
if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2]; 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.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; scene.calibration_wide_valid = wfde_list.size() == 3;
} }
if (sm.updated("pandaStates")) { if (sm.updated("pandaStates")) {
@ -201,8 +202,9 @@ static void update_state(UIState *s) {
scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
} }
if (sm.updated("wideRoadCameraState")) { if (sm.updated("wideRoadCameraState")) {
float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); 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; scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
} }

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