@ -1,4 +1,3 @@
# include "ui.hpp"
# include <stdio.h> # include <stdio.h>
# include <stdlib.h> # include <stdlib.h>
# include <stdbool.h> # include <stdbool.h>
@ -6,7 +5,6 @@
# include <assert.h> # include <assert.h>
# include <sys/mman.h> # include <sys/mman.h>
# include <sys/resource.h> # include <sys/resource.h>
# include <capnp/serialize.h>
# include <czmq.h> # include <czmq.h>
# include "common/util.h" # include "common/util.h"
# include "common/timing.h" # include "common/timing.h"
@ -14,6 +12,7 @@
# include "common/touch.h" # include "common/touch.h"
# include "common/visionimg.h" # include "common/visionimg.h"
# include "common/params.h" # include "common/params.h"
# include "ui.hpp"
static int last_brightness = - 1 ; static int last_brightness = - 1 ;
static void set_brightness ( UIState * s , int brightness ) { static void set_brightness ( UIState * s , int brightness ) {
@ -72,9 +71,7 @@ static void update_offroad_layout_state(UIState *s) {
auto layout = event . initUiLayoutState ( ) ; auto layout = event . initUiLayoutState ( ) ;
layout . setActiveApp ( s - > active_app ) ; layout . setActiveApp ( s - > active_app ) ;
layout . setSidebarCollapsed ( s - > scene . uilayout_sidebarcollapsed ) ; layout . setSidebarCollapsed ( s - > scene . uilayout_sidebarcollapsed ) ;
auto words = capnp : : messageToFlatArray ( msg ) ; s - > pm - > send ( " offroadLayout " , msg ) ;
auto bytes = words . asBytes ( ) ;
s - > offroad_sock - > send ( ( char * ) bytes . begin ( ) , bytes . size ( ) ) ;
LOGD ( " setting active app to %d with sidebar %d " , ( int ) s - > active_app , s - > scene . uilayout_sidebarcollapsed ) ; LOGD ( " setting active app to %d with sidebar %d " , ( int ) s - > active_app , s - > scene . uilayout_sidebarcollapsed ) ;
} }
@ -214,50 +211,13 @@ static void ui_init(UIState *s) {
memset ( s , 0 , sizeof ( UIState ) ) ; memset ( s , 0 , sizeof ( UIState ) ) ;
pthread_mutex_init ( & s - > lock , NULL ) ; pthread_mutex_init ( & s - > lock , NULL ) ;
s - > sm = new SubMaster ( { " model " , " controlsState " , " uiLayoutState " , " liveCalibration " , " radarState " , " thermal " ,
s - > ctx = Context : : create ( ) ; " health " , " ubloxGnss " , " driverState " , " dMonitoringState " , " offroadLayout "
s - > model_sock = SubSocket : : create ( s - > ctx , " model " ) ;
s - > controlsstate_sock = SubSocket : : create ( s - > ctx , " controlsState " ) ;
s - > uilayout_sock = SubSocket : : create ( s - > ctx , " uiLayoutState " ) ;
s - > livecalibration_sock = SubSocket : : create ( s - > ctx , " liveCalibration " ) ;
s - > radarstate_sock = SubSocket : : create ( s - > ctx , " radarState " ) ;
s - > thermal_sock = SubSocket : : create ( s - > ctx , " thermal " ) ;
s - > health_sock = SubSocket : : create ( s - > ctx , " health " ) ;
s - > ubloxgnss_sock = SubSocket : : create ( s - > ctx , " ubloxGnss " ) ;
s - > driverstate_sock = SubSocket : : create ( s - > ctx , " driverState " ) ;
s - > dmonitoring_sock = SubSocket : : create ( s - > ctx , " dMonitoringState " ) ;
s - > offroad_sock = PubSocket : : create ( s - > ctx , " offroadLayout " ) ;
assert ( s - > model_sock ! = NULL ) ;
assert ( s - > controlsstate_sock ! = NULL ) ;
assert ( s - > uilayout_sock ! = NULL ) ;
assert ( s - > livecalibration_sock ! = NULL ) ;
assert ( s - > radarstate_sock ! = NULL ) ;
assert ( s - > thermal_sock ! = NULL ) ;
assert ( s - > health_sock ! = NULL ) ;
assert ( s - > ubloxgnss_sock ! = NULL ) ;
assert ( s - > driverstate_sock ! = NULL ) ;
assert ( s - > dmonitoring_sock ! = NULL ) ;
assert ( s - > offroad_sock ! = NULL ) ;
s - > poller = Poller : : create ( {
s - > model_sock ,
s - > controlsstate_sock ,
s - > uilayout_sock ,
s - > livecalibration_sock ,
s - > radarstate_sock ,
s - > thermal_sock ,
s - > health_sock ,
s - > ubloxgnss_sock ,
s - > driverstate_sock ,
s - > dmonitoring_sock
} ) ;
# ifdef SHOW_SPEEDLIMIT # ifdef SHOW_SPEEDLIMIT
s - > map_data_sock = SubSocket : : create ( s - > ctx , " liveMapData " ) ; , " liveMapData "
assert ( s - > map_data_sock ! = NULL ) ;
s - > poller - > registerSocket ( s - > map_data_sock ) ;
# endif # endif
} ) ;
s - > pm = new PubMaster ( { " offroadLayout " } ) ;
s - > ipc_fd = - 1 ; s - > ipc_fd = - 1 ;
@ -369,17 +329,11 @@ static void update_status(UIState *s, int status) {
} }
} }
void handle_message ( UIState * s , Message * msg ) { void handle_message ( UIState * s , SubMaster & sm ) {
auto amsg = kj : : heapArray < capnp : : word > ( ( msg - > getSize ( ) / sizeof ( capnp : : word ) ) + 1 ) ;
memcpy ( amsg . begin ( ) , msg - > getData ( ) , msg - > getSize ( ) ) ;
capnp : : FlatArrayMessageReader cmsg ( amsg ) ;
cereal : : Event : : Reader event = cmsg . getRoot < cereal : : Event > ( ) ;
auto which = event . which ( ) ;
UIScene & scene = s - > scene ; UIScene & scene = s - > scene ;
if ( which = = cereal : : Event : : CONTROLS_STATE & & s - > started ) { if ( s - > started & & sm . updated ( " controlsState " ) ) {
auto event = sm [ " controlsState " ] ;
auto data = event . getControlsState ( ) ; auto data = event . getControlsState ( ) ;
s - > controls_timeout = 1 * UI_FREQ ; s - > controls_timeout = 1 * UI_FREQ ;
scene . frontview = data . getRearViewCam ( ) ; scene . frontview = data . getRearViewCam ( ) ;
if ( ! scene . frontview ) { s - > controls_seen = true ; } if ( ! scene . frontview ) { s - > controls_seen = true ; }
@ -394,7 +348,6 @@ void handle_message(UIState *s, Message* msg) {
scene . engageable = data . getEngageable ( ) ; scene . engageable = data . getEngageable ( ) ;
scene . gps_planner_active = data . getGpsPlannerActive ( ) ; scene . gps_planner_active = data . getGpsPlannerActive ( ) ;
scene . monitoring_active = data . getDriverMonitoringOn ( ) ; scene . monitoring_active = data . getDriverMonitoringOn ( ) ;
scene . decel_for_model = data . getDecelForModel ( ) ; scene . decel_for_model = data . getDecelForModel ( ) ;
auto alert_sound = data . getAlertSound ( ) ; auto alert_sound = data . getAlertSound ( ) ;
const auto sound_none = cereal : : CarControl : : HUDControl : : AudibleAlert : : NONE ; const auto sound_none = cereal : : CarControl : : HUDControl : : AudibleAlert : : NONE ;
@ -438,8 +391,9 @@ void handle_message(UIState *s, Message* msg) {
} }
} }
} }
} else if ( which = = cereal : : Event : : RADAR_STATE ) { }
auto data = event . getRadarState ( ) ; if ( sm . updated ( " radarState " ) ) {
auto data = sm [ " radarState " ] . getRadarState ( ) ;
auto leaddatad = data . getLeadOne ( ) ; auto leaddatad = data . getLeadOne ( ) ;
scene . lead_status = leaddatad . getStatus ( ) ; scene . lead_status = leaddatad . getStatus ( ) ;
@ -451,40 +405,44 @@ void handle_message(UIState *s, Message* msg) {
scene . lead_d_rel2 = leaddatad2 . getDRel ( ) ; scene . lead_d_rel2 = leaddatad2 . getDRel ( ) ;
scene . lead_y_rel2 = leaddatad2 . getYRel ( ) ; scene . lead_y_rel2 = leaddatad2 . getYRel ( ) ;
scene . lead_v_rel2 = leaddatad2 . getVRel ( ) ; scene . lead_v_rel2 = leaddatad2 . getVRel ( ) ;
s - > livempc_or_radarstate_changed = true ; s - > livempc_or_radarstate_changed = true ;
} else if ( which = = cereal : : Event : : LIVE_CALIBRATION ) { }
if ( sm . updated ( " liveCalibration " ) ) {
scene . world_objects_visible = true ; scene . world_objects_visible = true ;
auto extrinsicl = event . getLiveCalibration ( ) . getExtrinsicMatrix ( ) ; auto extrinsicl = sm [ " liveCalibration " ] . getLiveCalibration ( ) . getExtrinsicMatrix ( ) ;
for ( int i = 0 ; i < 3 * 4 ; i + + ) { for ( int i = 0 ; i < 3 * 4 ; i + + ) {
scene . extrinsic_matrix . v [ i ] = extrinsicl [ i ] ; scene . extrinsic_matrix . v [ i ] = extrinsicl [ i ] ;
} }
} else if ( which = = cereal : : Event : : MODEL ) { }
scene . model = read_model ( event . getModel ( ) ) ; if ( sm . updated ( " model " ) ) {
scene . model = read_model ( sm [ " model " ] . getModel ( ) ) ;
s - > model_changed = true ; s - > model_changed = true ;
} else if ( which = = cereal : : Event : : LIVE_MPC ) { }
auto data = event . getLiveMpc ( ) ; // else if (which == cereal::Event::LIVE_MPC) {
// auto data = event.getLiveMpc();
auto x_list = data . getX ( ) ; // auto x_list = data.getX();
auto y_list = data . getY ( ) ; // auto y_list = data.getY();
for ( int i = 0 ; i < 50 ; i + + ) { // for (int i = 0; i < 50; i++){
scene . mpc_x [ i ] = x_list [ i ] ; // scene.mpc_x[i] = x_list[i];
scene . mpc_y [ i ] = y_list [ i ] ; // scene.mpc_y[i] = y_list[i];
} // }
s - > livempc_or_radarstate_changed = true ; // s->livempc_or_radarstate_changed = true;
} else if ( which = = cereal : : Event : : UI_LAYOUT_STATE ) { // }
auto data = event . getUiLayoutState ( ) ; if ( sm . updated ( " uiLayoutState " ) ) {
auto data = sm [ " uiLayoutState " ] . getUiLayoutState ( ) ;
s - > active_app = data . getActiveApp ( ) ; s - > active_app = data . getActiveApp ( ) ;
scene . uilayout_sidebarcollapsed = data . getSidebarCollapsed ( ) ; scene . uilayout_sidebarcollapsed = data . getSidebarCollapsed ( ) ;
if ( data . getMockEngaged ( ) ! = scene . uilayout_mockengaged ) { if ( data . getMockEngaged ( ) ! = scene . uilayout_mockengaged ) {
scene . uilayout_mockengaged = data . getMockEngaged ( ) ; scene . uilayout_mockengaged = data . getMockEngaged ( ) ;
} }
} else if ( which = = cereal : : Event : : LIVE_MAP_DATA ) { }
scene . map_valid = event . getLiveMapData ( ) . getMapValid ( ) ; # ifdef SHOW_SPEEDLIMIT
} else if ( which = = cereal : : Event : : THERMAL ) { if ( sm . updated ( " liveMapData " ) ) {
auto data = event . getThermal ( ) ; scene . map_valid = sm [ " liveMapData " ] . getLiveMapData ( ) . getMapValid ( ) ;
}
# endif
if ( sm . updated ( " thermal " ) ) {
auto data = sm [ " thermal " ] . getThermal ( ) ;
scene . networkType = data . getNetworkType ( ) ; scene . networkType = data . getNetworkType ( ) ;
scene . networkStrength = data . getNetworkStrength ( ) ; scene . networkStrength = data . getNetworkStrength ( ) ;
scene . batteryPercent = data . getBatteryPercent ( ) ; scene . batteryPercent = data . getBatteryPercent ( ) ;
@ -494,22 +452,26 @@ void handle_message(UIState *s, Message* msg) {
scene . paTemp = data . getPa0 ( ) ; scene . paTemp = data . getPa0 ( ) ;
s - > thermal_started = data . getStarted ( ) ; s - > thermal_started = data . getStarted ( ) ;
} else if ( which = = cereal : : Event : : UBLOX_GNSS ) { }
auto data = event . getUbloxGnss ( ) ; if ( sm . updated ( " ubloxGnss " ) ) {
auto data = sm [ " ubloxGnss " ] . getUbloxGnss ( ) ;
if ( data . which ( ) = = cereal : : UbloxGnss : : MEASUREMENT_REPORT ) { if ( data . which ( ) = = cereal : : UbloxGnss : : MEASUREMENT_REPORT ) {
scene . satelliteCount = data . getMeasurementReport ( ) . getNumMeas ( ) ; scene . satelliteCount = data . getMeasurementReport ( ) . getNumMeas ( ) ;
} }
} else if ( which = = cereal : : Event : : HEALTH ) { }
scene . hwType = event . getHealth ( ) . getHwType ( ) ; if ( sm . updated ( " health " ) ) {
scene . hwType = sm [ " health " ] . getHealth ( ) . getHwType ( ) ;
s - > hardware_timeout = 5 * 30 ; // 5 seconds at 30 fps
s - > hardware_timeout = 5 * 30 ; // 5 seconds at 30 fps
} else if ( which = = cereal : : Event : : DRIVER_STATE ) { }
auto data = event . getDriverState ( ) ; if ( sm . updated ( " driverState " ) ) {
auto data = sm [ " driverState " ] . getDriverState ( ) ;
scene . face_prob = data . getFaceProb ( ) ; scene . face_prob = data . getFaceProb ( ) ;
auto fxy_list = data . getFacePosition ( ) ; auto fxy_list = data . getFacePosition ( ) ;
scene . face_x = fxy_list [ 0 ] ; scene . face_x = fxy_list [ 0 ] ;
scene . face_y = fxy_list [ 1 ] ; scene . face_y = fxy_list [ 1 ] ;
} else if ( which = = cereal : : Event : : D_MONITORING_STATE ) { }
auto data = event . getDMonitoringState ( ) ; if ( sm . updated ( " dMonitoringState " ) ) {
auto data = sm [ " dMonitoringState " ] . getDMonitoringState ( ) ;
scene . is_rhd = data . getIsRHD ( ) ; scene . is_rhd = data . getIsRHD ( ) ;
scene . awareness_status = data . getAwarenessStatus ( ) ; scene . awareness_status = data . getAwarenessStatus ( ) ;
s - > preview_started = data . getIsPreview ( ) ; s - > preview_started = data . getIsPreview ( ) ;
@ -535,19 +497,10 @@ void handle_message(UIState *s, Message* msg) {
} }
static void check_messages ( UIState * s ) { static void check_messages ( UIState * s ) {
while ( true ) { while ( true ) {
auto polls = s - > poller - > poll ( 0 ) ; if ( s - > sm - > update ( 0 ) = = 0 )
if ( polls . size ( ) = = 0 )
break ; break ;
handle_message ( s , * ( s - > sm ) ) ;
for ( auto sock : polls ) {
Message * msg = sock - > receive ( ) ;
if ( msg ) {
handle_message ( s , msg ) ;
delete msg ;
}
}
} }
} }
@ -772,17 +725,7 @@ static void* vision_connect_thread(void *args) {
s - > vision_connect_firstrun = true ; s - > vision_connect_firstrun = true ;
// Drain sockets
// Drain sockets
while ( true ) { s - > sm - > drain ( ) ;
auto polls = s - > poller - > poll ( 0 ) ;
if ( polls . size ( ) = = 0 )
break ;
for ( auto sock : polls ) {
Message * msg = sock - > receive ( ) ;
if ( msg = = NULL ) continue ;
delete msg ;
}
}
pthread_mutex_unlock ( & s - > lock ) ; pthread_mutex_unlock ( & s - > lock ) ;
} }
@ -1071,6 +1014,7 @@ int main(int argc, char* argv[]) {
err = pthread_join ( connect_thread_handle , NULL ) ; err = pthread_join ( connect_thread_handle , NULL ) ;
assert ( err = = 0 ) ; assert ( err = = 0 ) ;
delete s - > sm ;
delete s - > pm ;
return 0 ; return 0 ;
} }
Willem Melching
5 years ago
committed by
GitHub