From bcd69adc334bed084aec90a3f640b1e1b2c7a30c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 29 Sep 2022 11:02:27 -0700
Subject: [PATCH] UI: remove imu tap detection (#25924)

old-commit-hash: 391780551a362faf9c6c290d47313583d14aa594
---
 selfdrive/ui/ui.cc | 32 ++------------------------------
 selfdrive/ui/ui.h  |  2 +-
 2 files changed, 3 insertions(+), 31 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index b9fdaf329e..fcee00d1c8 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -162,21 +162,6 @@ static void update_state(UIState *s) {
   if (sm.updated("carParams")) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
-  if (!scene.started && sm.updated("sensorEvents")) {
-    for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
-      if (sensor.which() == cereal::SensorEventData::ACCELERATION) {
-        auto accel = sensor.getAcceleration().getV();
-        if (accel.totalSize().wordCount) { // TODO: sometimes empty lists are received. Figure out why
-          scene.accel_sensor = accel[2];
-        }
-      } else if (sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
-        auto gyro = sensor.getGyroUncalibrated().getV();
-        if (gyro.totalSize().wordCount) {
-          scene.gyro_sensor = gyro[1];
-        }
-      }
-    }
-  }
   if (sm.updated("wideRoadCameraState")) {
     scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent();
   }
@@ -221,7 +206,7 @@ void UIState::updateStatus() {
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
-    "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
+    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman",
     "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
   });
 
@@ -304,24 +289,11 @@ void Device::updateBrightness(const UIState &s) {
   }
 }
 
-bool Device::motionTriggered(const UIState &s) {
-  static float accel_prev = 0;
-  static float gyro_prev = 0;
-
-  bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2;
-  bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15;
-
-  gyro_prev = s.scene.gyro_sensor;
-  accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples;
-
-  return (!awake && accel_trigger && gyro_trigger);
-}
-
 void Device::updateWakefulness(const UIState &s) {
   bool ignition_just_turned_off = !s.scene.ignition && ignition_on;
   ignition_on = s.scene.ignition;
 
-  if (ignition_just_turned_off || motionTriggered(s)) {
+  if (ignition_just_turned_off) {
     resetInteractiveTimout();
   } else if (interactive_timeout > 0 && --interactive_timeout == 0) {
     emit interactiveTimout();
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index b4ec900eef..887b7ee841 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -100,7 +100,7 @@ typedef struct UIScene {
   // lead
   QPointF lead_vertices[2];
 
-  float light_sensor, accel_sensor, gyro_sensor;
+  float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long;
   uint64_t started_frame;
 } UIScene;