revert to std::optional

selfdrive/ui/qt/onroad.cc

@@ -41,11 +41,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 
 void OnroadWindow::updateState(const UIState &s) {
   QColor bgColor = bg_colors[s.status];
-  Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
-  if (alert.type == "controlsUnresponsive") {
-    bgColor = bg_colors[STATUS_ALERT];
+  if (std::optional<Alert> alert = Alert::get(*(s.sm), s.scene.started_frame)) {
+    if (alert->type == "controlsUnresponsive") {
+      bgColor = bg_colors[STATUS_ALERT];
+    }
+    alerts->updateAlert(*alert, bgColor);
   }
-  alerts->updateAlert(alert, bgColor);
   if (bg != bgColor) {
     // repaint border
     bg = bgColor;

selfdrive/ui/soundd/sound.cc

@@ -38,12 +38,18 @@ void Sound::update() {
     }
   }
 
-  setAlert(Alert::get(sm, 1));
+  std::optional<Alert> alert = Alert::get(sm, 1);
+  if (alert) {
+    setAlert(alert->type, alert->sound);
+  } else {
+    setAlert("", AudibleAlert::NONE);
+  }
 }
 
-void Sound::setAlert(const Alert &alert) {
-  if (!current_alert.equal(alert)) {
-    current_alert = alert;
+void Sound::setAlert(const QString &alert_type, AudibleAlert sound) {
+  if (current_alert_type != alert_type || current_sound != sound) {
+    current_alert_type = alert_type;
+    current_sound = sound;
     // stop sounds
     for (auto &[s, loops] : sounds) {
       // Only stop repeating sounds
@@ -53,8 +59,8 @@ void Sound::setAlert(const Alert &alert) {
     }
 
     // play sound
-    if (alert.sound != AudibleAlert::NONE) {
-      auto &[s, loops] = sounds[alert.sound];
+    if (sound != AudibleAlert::NONE) {
+      auto &[s, loops] = sounds[sound];
       s->setLoopCount(loops);
       s->play();
     }

selfdrive/ui/soundd/sound.h

@@ -22,9 +22,10 @@ public:
 
 protected:
   void update();
-  void setAlert(const Alert &alert);
+  void setAlert(const QString &alert_type, AudibleAlert sound);
 
-  Alert current_alert = {};
+  AudibleAlert current_sound = AudibleAlert::NONE;
+  QString current_alert_type;
   float current_volume = Hardware::MIN_VOLUME;
   QMap<AudibleAlert, QPair<QSoundEffect *, int>> sounds;
   SubMaster sm;

selfdrive/ui/ui.h

@@ -2,6 +2,7 @@
 
 #include <map>
 #include <memory>
+#include <optional>
 #include <string>
 
 #include <QObject>
@@ -60,29 +61,28 @@ struct Alert {
     return text1 == a2.text1 && text2 == a2.text2 && type == a2.type;
   }
 
-  static Alert get(const SubMaster &sm, uint64_t started_frame) {
-    Alert alert{};
+  static std::optional<Alert> get(const SubMaster &sm, uint64_t started_frame) {
     if (sm.updated("controlsState")) {
       const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-      alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-               cs.getAlertType().cStr(), cs.getAlertSize(),
-               cs.getAlertSound()};
+      return Alert{cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+                   cs.getAlertType().cStr(), cs.getAlertSize(),
+                   cs.getAlertSound()};
     } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
       const int CONTROLS_TIMEOUT = 5;
       // Handle controls timeout
       if (sm.rcv_frame("controlsState") < started_frame) {
         // car is started, but controlsState hasn't been seen at all
-        alert = {"openpilot Unavailable", "Waiting for controls to start",
-                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-                 AudibleAlert::NONE};
+        return Alert{"openpilot Unavailable", "Waiting for controls to start",
+                     "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+                     AudibleAlert::NONE};
       } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) {
         // car is started, but controls is lagging or died
-        alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
-                 "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-                 AudibleAlert::CHIME_WARNING_REPEAT};
+        return Alert{"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
+                     "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+                     AudibleAlert::CHIME_WARNING_REPEAT};
       }
     }
-    return alert;
+    return std::nullopt;
   }
 };