static Alert::get

selfdrive/ui/qt/onroad.cc

@@ -41,8 +41,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 
 void OnroadWindow::updateState(const UIState &s) {
   QColor bgColor = bg_colors[s.status];
-  auto alert = get_alert(*(s.sm), s.scene.started_frame);
+  if (auto alert = Alert::get(*(s.sm), s.scene.started_frame)) {
-  if (alert) {
     if (alert->type == "controlsUnresponsive") {
       bgColor = bg_colors[STATUS_ALERT];
     }

selfdrive/ui/soundd.cc

@@ -62,12 +62,10 @@ public:
       }
     }
 
-    auto alert = get_alert(sm, 1);
+    if (auto alert = Alert::get(sm, 1)) {
-    if (alert) {
       setAlert(alert->type, alert->sound);
     } else {
-      // stop alert.
+      setAlert({}, AudibleAlert::NONE);
-      setAlert("", AudibleAlert::NONE);
     }
   }
 

selfdrive/ui/ui.h

@@ -27,6 +27,10 @@
 #define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
 #define COLOR_RED nvgRGBA(201, 34, 49, 255)
 
+const int bdr_s = 30;
+const int header_h = 420;
+const int footer_h = 280;
+
 const int UI_FREQ = 20;   // Hz
 
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
@@ -47,7 +51,7 @@ typedef struct Rect {
   }
 } Rect;
 
-typedef struct Alert {
+struct Alert {
   QString text1;
   QString text2;
   QString type;
@@ -56,38 +60,31 @@ typedef struct Alert {
   bool equal(const Alert &a2) {
     return text1 == a2.text1 && text2 == a2.text2 && type == a2.type;
   }
-} Alert;
+
-
+  static std::optional<Alert> get(const SubMaster &sm, uint64_t started_frame) {
-const Alert CONTROLS_WAITING_ALERT = {"openpilot Unavailable", "Waiting for controls to start",
+    if (sm.updated("controlsState")) {
-                                      "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+      const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-                                      AudibleAlert::NONE};
+      return Alert{cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-
+               cs.getAlertType().cStr(), cs.getAlertSize(),
-const Alert CONTROLS_UNRESPONSIVE_ALERT = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
+               cs.getAlertSound()};
-                                           "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+    } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
-                                           AudibleAlert::CHIME_WARNING_REPEAT};
+      const int CONTROLS_TIMEOUT = 5;
-inline std::optional<Alert> get_alert(const SubMaster &sm, uint64_t started_frame) {
+      // Handle controls timeout
-  const int CONTROLS_TIMEOUT = 5;
+      if (sm.rcv_frame("controlsState") < started_frame) {
-
+        // car is started, but controlsState hasn't been seen at all
-  if (sm.updated("controlsState")) {
+        return Alert{"openpilot Unavailable", "Waiting for controls to start",
-    const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
+                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-    return Alert{cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), cs.getAlertType().cStr(),
+                 AudibleAlert::NONE};
-                 cs.getAlertSize(), cs.getAlertSound()};
+      } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
-  } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
+        // car is started, but controls is lagging or died
-    // Handle controls timeout
+        return Alert{"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
-    if (sm.rcv_frame("controlsState") < started_frame) {
+                 "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-      // car is started, but controlsState hasn't been seen at all
+                 AudibleAlert::CHIME_WARNING_REPEAT};
-      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;
   }
-  return std::nullopt;
+};
-}
-
-const int bdr_s = 30;
-const int header_h = 420;
-const int footer_h = 280;
 
 typedef enum UIStatus {
   STATUS_DISENGAGED,