UI cleanup (#2091)

* remove unused UI code

* these params aren't used anymore

* this is cleaner

* remove one more timeout

* read that from carParams

* only android needs pm

* fix that

* fix that

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 43e3ec1bc1

selfdrive/manager.py

@@ -571,7 +571,6 @@ def main():
     ("IsUploadRawEnabled", "1"),
     ("IsLdwEnabled", "1"),
     ("IsGeofenceEnabled", "-1"),
-    ("SpeedLimitOffset", "0"),
     ("LongitudinalControl", "0"),
     ("LimitSetSpeed", "0"),
     ("LimitSetSpeedNeural", "0"),

selfdrive/ui/android_ui.cc

@@ -143,7 +143,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
   }
 }
 
-static void update_offroad_layout_state(UIState *s) {
+static void update_offroad_layout_state(UIState *s, PubMaster *pm) {
   static int timeout = 0;
   static bool prev_collapsed = false;
   static cereal::UiLayoutState::App prev_app = cereal::UiLayoutState::App::NONE;
@@ -157,7 +157,7 @@ static void update_offroad_layout_state(UIState *s) {
     auto layout = event.initUiLayoutState();
     layout.setActiveApp(s->active_app);
     layout.setSidebarCollapsed(s->scene.uilayout_sidebarcollapsed);
-    s->pm->send("offroadLayout", msg);
+    pm->send("offroadLayout", msg);
     LOGD("setting active app to %d with sidebar %d", (int)s->active_app, s->scene.uilayout_sidebarcollapsed);
     prev_collapsed = s->scene.uilayout_sidebarcollapsed;
     prev_app = s->active_app;
@@ -176,9 +176,10 @@ int main(int argc, char* argv[]) {
   UIState *s = &uistate;
   ui_init(s);
   set_awake(s, true);
-
   enable_event_processing(true);
 
+  PubMaster *pm = new PubMaster({"offroadLayout"});
+
   pthread_t connect_thread_handle;
   err = pthread_create(&connect_thread_handle, NULL,
                        vision_connect_thread, s);
@@ -196,11 +197,11 @@ int main(int argc, char* argv[]) {
   // light sensor scaling params
   const bool LEON = util::read_file("/proc/cmdline").find("letv") != std::string::npos;
 
-  float brightness_b, brightness_m;
+  float brightness_b = 0, brightness_m = 0;
   int result = read_param(&brightness_b, "BRIGHTNESS_B", true);
   result += read_param(&brightness_m, "BRIGHTNESS_M", true);
 
-  if(result != 0){
+  if(result != 0) {
     brightness_b = LEON ? 10.0 : 5.0;
     brightness_m = LEON ? 2.6 : 1.3;
     write_param_float(brightness_b, "BRIGHTNESS_B", true);
@@ -245,10 +246,6 @@ int main(int argc, char* argv[]) {
     if (!s->started) {
       // always process events offroad
       check_messages(s);
-
-      if (s->started) {
-        s->controls_timeout = 5 * UI_FREQ;
-      }
     } else {
       set_awake(s, true);
       // Car started, fetch a new rgb image from ipc
@@ -275,9 +272,7 @@ int main(int argc, char* argv[]) {
     }
 
     // manage hardware disconnect
-    if (s->hardware_timeout > 0) {
-      s->hardware_timeout--;
-    } else {
+    if ((s->sm->frame - s->sm->rcv_frame("health")) > 5*UI_FREQ) {
       s->scene.hwType = cereal::HealthData::HwType::UNKNOWN;
     }
 
@@ -290,9 +285,8 @@ int main(int argc, char* argv[]) {
 
     s->sound.setVolume(fmin(MAX_VOLUME, MIN_VOLUME + s->scene.controls_state.getVEgo() / 5)); // up one notch every 5 m/s
 
-    if (s->controls_timeout > 0) {
-      s->controls_timeout--;
-    } else if (s->started && !s->scene.frontview) {
+    bool controls_timeout = (s->sm->frame - s->sm->rcv_frame("controlsState")) > 5*UI_FREQ;
+    if (s->started && !s->scene.frontview && controls_timeout) {
       if (!s->controls_seen) {
         // car is started, but controlsState hasn't been seen at all
         s->scene.alert_text1 = "openpilot Unavailable";
@@ -315,9 +309,6 @@ int main(int argc, char* argv[]) {
     }
 
     read_param_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
-    read_param_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
-    read_param_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
-    read_param_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
     int param_read = read_param_timeout(&s->last_athena_ping, "LastAthenaPingTime", &s->last_athena_ping_timeout);
     if (param_read != -1) { // Param was updated this loop
       if (param_read != 0) { // Failed to read param
@@ -328,7 +319,7 @@ int main(int argc, char* argv[]) {
         s->scene.athenaStatus = NET_ERROR;
       }
     }
-    update_offroad_layout_state(s);
+    update_offroad_layout_state(s, pm);
 
     pthread_mutex_unlock(&s->lock);
 
@@ -355,6 +346,6 @@ int main(int argc, char* argv[]) {
   err = pthread_join(connect_thread_handle, NULL);
   assert(err == 0);
   delete s->sm;
-  delete s->pm;
+  delete pm;
   return 0;
 }

selfdrive/ui/paint.cc

@@ -276,8 +276,8 @@ static void draw_frame(UIState *s) {
 
 static inline bool valid_frame_pt(UIState *s, float x, float y) {
   return x >= 0 && x <= s->rgb_width && y >= 0 && y <= s->rgb_height;
-
 }
+
 static void update_lane_line_data(UIState *s, const float *points, float off, model_path_vertices_data *pvd, float valid_len) {
   pvd->cnt = 0;
   int rcount = fmin(MODEL_PATH_MAX_VERTICES_CNT / 2, valid_len);
@@ -323,6 +323,7 @@ static void ui_draw_vision_lanes(UIState *s) {
     update_all_lane_lines_data(s, scene->model.getLeftLane(), scene->left_lane_points, pvd);
     update_all_lane_lines_data(s, scene->model.getRightLane(), scene->right_lane_points, pvd + MODEL_LANE_PATH_CNT);
   }
+
   // Draw left lane edge
   ui_draw_lane(
       s, pvd,
@@ -336,6 +337,7 @@ static void ui_draw_vision_lanes(UIState *s) {
   if(s->sm->updated("radarState")) {
     update_all_track_data(s);
   }
+
   // Draw vision path
   ui_draw_track(s, false, &s->track_vertices[0]);
   if (scene->controls_state.getEnabled()) {
@@ -385,25 +387,20 @@ static void ui_draw_world(UIState *s) {
 }
 
 static void ui_draw_vision_maxspeed(UIState *s) {
-  /*if (!s->longitudinal_control){
-    return;
-  }*/
   char maxspeed_str[32];
   float maxspeed = s->scene.controls_state.getVCruise();
   int maxspeed_calc = maxspeed * 0.6225 + 0.5;
   float speedlimit = s->scene.speedlimit;
   int speedlim_calc = speedlimit * 2.2369363 + 0.5;
-  int speed_lim_off = s->speed_lim_off * 2.2369363 + 0.5;
   if (s->is_metric) {
     maxspeed_calc = maxspeed + 0.5;
     speedlim_calc = speedlimit * 3.6 + 0.5;
-    speed_lim_off = s->speed_lim_off * 3.6 + 0.5;
   }
 
   bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA);
   bool is_speedlim_valid = s->scene.speedlimit_valid;
   bool is_set_over_limit = is_speedlim_valid && s->scene.controls_state.getEnabled() &&
-                       is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off);
+                           is_cruise_set && maxspeed_calc > speedlim_calc;
 
   int viz_maxspeed_w = 184;
   int viz_maxspeed_h = 202;
@@ -411,12 +408,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
   int viz_maxspeed_y = (box_y + (bdr_s*1.5));
   int viz_maxspeed_xo = 180;
 
-#ifdef SHOW_SPEEDLIMIT
-  viz_maxspeed_w += viz_maxspeed_xo;
-  viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2);
-#else
   viz_maxspeed_xo = 0;
-#endif
 
   // Draw Background
   ui_draw_rect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h,
@@ -444,65 +436,6 @@ static void ui_draw_vision_maxspeed(UIState *s) {
   }
 }
 
-#ifdef SHOW_SPEEDLIMIT
-static void ui_draw_vision_speedlimit(UIState *s) {
-  char speedlim_str[32];
-  float speedlimit = s->scene.speedlimit;
-  int speedlim_calc = speedlimit * 2.2369363 + 0.5;
-  if (s->is_metric) {
-    speedlim_calc = speedlimit * 3.6 + 0.5;
-  }
-
-  bool is_speedlim_valid = s->scene.speedlimit_valid;
-  float hysteresis_offset = 0.5;
-  if (s->is_ego_over_limit) {
-    hysteresis_offset = 0.0;
-  }
-  s->is_ego_over_limit = is_speedlim_valid && s->scene.controls_state.getVEgo() > (speedlimit + s->speed_lim_off + hysteresis_offset);
-
-  int viz_speedlim_w = 180;
-  int viz_speedlim_h = 202;
-  int viz_speedlim_x = (s->scene.ui_viz_rx + (bdr_s*2));
-  int viz_speedlim_y = (box_y + (bdr_s*1.5));
-  if (!is_speedlim_valid) {
-    viz_speedlim_w -= 5;
-    viz_speedlim_h -= 10;
-    viz_speedlim_x += 9;
-    viz_speedlim_y += 5;
-  }
-  // Draw Background
-  NVGcolor color = COLOR_WHITE_ALPHA(100);
-  if (is_speedlim_valid && s->is_ego_over_limit) {
-    color = nvgRGBA(218, 111, 37, 180);
-  } else if (is_speedlim_valid) {
-    color = COLOR_WHITE;
-  }
-  ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, color, is_speedlim_valid ? 30 : 15);
-
-  // Draw Border
-  if (is_speedlim_valid) {
-    ui_draw_rect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h,
-                 s->is_ego_over_limit ? COLOR_OCHRE : COLOR_WHITE, 20, 10);
-  }
-  const float text_x = viz_speedlim_x + viz_speedlim_w / 2;
-  const float text_y = viz_speedlim_y + (is_speedlim_valid ? 50 : 45);
-  // Draw "Speed Limit" Text
-  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-  color = is_speedlim_valid && s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
-  ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y, "SMART", 50, color, s->font_sans_semibold);
-  ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y + 40, "SPEED", 50, color, s->font_sans_semibold);
-
-  // Draw Speed Text
-  color = s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
-  if (is_speedlim_valid) {
-    snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
-    ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, 48*2.5, color, s->font_sans_bold);
-  } else {
-    ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", 42*2.5, color, s->font_sans_semibold);
-  }
-}
-#endif
-
 static void ui_draw_vision_speed(UIState *s) {
   const UIScene *scene = &s->scene;
   float v_ego = s->scene.controls_state.getVEgo();
@@ -551,15 +484,6 @@ static void ui_draw_vision_event(UIState *s) {
   }
 }
 
-#ifdef SHOW_SPEEDLIMIT
-static void ui_draw_vision_map(UIState *s) {
-  const int map_size = 96;
-  const int map_x = (s->scene.ui_viz_rx + (map_size * 3) + (bdr_s * 3));
-  const int map_y = (footer_y + ((footer_h - map_size) / 2));
-  ui_draw_circle_image(s->vg, map_x, map_y, map_size, s->img_map, s->scene.map_valid);
-}
-#endif
-
 static void ui_draw_vision_face(UIState *s) {
   const int face_size = 96;
   const int face_x = (s->scene.ui_viz_rx + face_size + (bdr_s * 2));
@@ -629,20 +553,12 @@ static void ui_draw_vision_header(UIState *s) {
 
   ui_draw_vision_maxspeed(s);
 
-#ifdef SHOW_SPEEDLIMIT
-  ui_draw_vision_speedlimit(s);
-#endif
   ui_draw_vision_speed(s);
   ui_draw_vision_event(s);
 }
 
 static void ui_draw_vision_footer(UIState *s) {
-
   ui_draw_vision_face(s);
-
-#ifdef SHOW_SPEEDLIMIT
-  // ui_draw_vision_map(s);
-#endif
 }
 
 void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size, int va_color,
@@ -654,15 +570,13 @@ void ui_draw_vision_alert(UIState *s, cereal::ControlsState::AlertSize va_size,
       {cereal::ControlsState::AlertSize::FULL, vwp_h}};
 
   const UIScene *scene = &s->scene;
-  const bool hasSidebar = !scene->uilayout_sidebarcollapsed;
-  const bool mapEnabled = scene->uilayout_mapenabled;
   bool longAlert1 = strlen(va_text1) > 15;
 
   const uint8_t *color = alert_colors[va_color];
   int alr_s = alert_size_map[va_size];
 
-  const int alr_x = scene->ui_viz_rx-(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)-bdr_s;
-  const int alr_w = scene->ui_viz_rw+(mapEnabled?(hasSidebar?nav_w:(nav_ww)):0)+(bdr_s*2);
+  const int alr_x = scene->ui_viz_rx- bdr_s;
+  const int alr_w = scene->ui_viz_rw + (bdr_s*2);
   const int alr_h = alr_s+(va_size==cereal::ControlsState::AlertSize::NONE?0:bdr_s);
   const int alr_y = vwp_h-alr_h;
 
@@ -719,9 +633,9 @@ static void ui_draw_vision(UIState *s) {
   if (scene->alert_size != cereal::ControlsState::AlertSize::NONE) {
     // Controls Alerts
     ui_draw_vision_alert(s, scene->alert_size, s->status,
-                            scene->alert_text1.c_str(), scene->alert_text2.c_str());
-  } else {
-    if (!scene->frontview){ui_draw_vision_footer(s);}
+                         scene->alert_text1.c_str(), scene->alert_text2.c_str());
+  } else if (!scene->frontview) {
+    ui_draw_vision_footer(s);
   }
 }
 
@@ -864,8 +778,6 @@ void ui_nvg_init(UIState *s) {
   assert(s->img_turn != 0);
   s->img_face = nvgCreateImage(s->vg, "../assets/img_driver_face.png", 1);
   assert(s->img_face != 0);
-  s->img_map = nvgCreateImage(s->vg, "../assets/img_map.png", 1);
-  assert(s->img_map != 0);
   s->img_button_settings = nvgCreateImage(s->vg, "../assets/images/button_settings.png", 1);
   assert(s->img_button_settings != 0);
   s->img_button_home = nvgCreateImage(s->vg, "../assets/images/button_home.png", 1);

selfdrive/ui/qt/ui.cc

@@ -2,8 +2,7 @@
 
 #include "window.hpp"
 
-int main(int argc, char *argv[])
-{
+int main(int argc, char *argv[]) {
   QSurfaceFormat fmt;
 #ifdef __APPLE__
   fmt.setVersion(3, 2);

selfdrive/ui/ui.cc

@@ -25,12 +25,8 @@ int write_param_float(float param, const char* param_name, bool persistent_param
 void ui_init(UIState *s) {
   pthread_mutex_init(&s->lock, NULL);
   s->sm = new SubMaster({"model", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal",
-                         "health", "ubloxGnss", "driverState", "dMonitoringState"
-#ifdef SHOW_SPEEDLIMIT
-                                    , "liveMapData"
-#endif
+                         "health", "carParams", "ubloxGnss", "driverState", "dMonitoringState"
   });
-  s->pm = new PubMaster({"offroadLayout"});
 
   s->ipc_fd = -1;
   s->scene.satelliteCount = -1;
@@ -70,15 +66,9 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
   s->rgb_front_stride = front_bufs.stride;
   s->rgb_front_buf_len = front_bufs.buf_len;
 
-  read_param(&s->speed_lim_off, "SpeedLimitOffset");
   read_param(&s->is_metric, "IsMetric");
   read_param(&s->longitudinal_control, "LongitudinalControl");
-  read_param(&s->limit_set_speed, "LimitSetSpeed");
-
-  // Set offsets so params don't get read at the same time
-  s->longitudinal_control_timeout = UI_FREQ / 3;
-  s->is_metric_timeout = UI_FREQ / 2;
-  s->limit_set_speed_timeout = UI_FREQ;
+  s->is_metric_timeout = UI_FREQ;
 }
 
 void update_status(UIState *s, int status) {
@@ -96,10 +86,9 @@ static inline void fill_path_points(const cereal::ModelData::PathData::Reader &p
 
 void handle_message(UIState *s, SubMaster &sm) {
   UIScene &scene = s->scene;
-  if (s->started && sm.updated("controlsState")) {
+  if (sm.updated("controlsState")) {
     auto event = sm["controlsState"];
     scene.controls_state = event.getControlsState();
-    s->controls_timeout = 1 * UI_FREQ;
     s->controls_seen = true;
 
     auto alert_sound = scene.controls_state.getAlertSound();
@@ -174,11 +163,6 @@ void handle_message(UIState *s, SubMaster &sm) {
     s->active_app = data.getActiveApp();
     scene.uilayout_sidebarcollapsed = data.getSidebarCollapsed();
   }
-#ifdef SHOW_SPEEDLIMIT
-  if (sm.updated("liveMapData")) {
-    scene.map_valid = sm["liveMapData"].getLiveMapData().getMapValid();
-  }
-#endif
   if (sm.updated("thermal")) {
     scene.thermal = sm["thermal"].getThermal();
   }
@@ -190,7 +174,9 @@ void handle_message(UIState *s, SubMaster &sm) {
   }
   if (sm.updated("health")) {
     scene.hwType = sm["health"].getHealth().getHwType();
-    s->hardware_timeout = 5*UI_FREQ; // 5 seconds
+  }
+  if (sm.updated("carParams")) {
+    s->longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
   if (sm.updated("driverState")) {
     scene.driver_state = sm["driverState"].getDriverState();
@@ -199,10 +185,7 @@ void handle_message(UIState *s, SubMaster &sm) {
     scene.dmonitoring_state = sm["dMonitoringState"].getDMonitoringState();
     scene.is_rhd = scene.dmonitoring_state.getIsRHD();
     scene.frontview = scene.dmonitoring_state.getIsPreview();
-  }
-
-  // timeout on frontview
-  if ((sm.frame - sm.rcv_frame("dMonitoringState")) > 1*UI_FREQ) {
+  } else if ((sm.frame - sm.rcv_frame("dMonitoringState")) > 1*UI_FREQ) {
     scene.frontview = false;
   }
 

selfdrive/ui/ui.hpp

@@ -50,8 +50,6 @@
 #endif
 
 #define UI_BUF_COUNT 4
-//#define SHOW_SPEEDLIMIT 1
-//#define DEBUG_TURN
 
 // TODO: Detect dynamically
 #ifdef QCOM2
@@ -114,9 +112,7 @@ typedef struct UIScene {
   bool speedlimit_valid;
 
   bool is_rhd;
-  bool map_valid;
   bool uilayout_sidebarcollapsed;
-  bool uilayout_mapenabled;
   // responsive layout
   int ui_viz_rx;
   int ui_viz_rw;
@@ -144,7 +140,7 @@ typedef struct UIScene {
 
 typedef struct {
   float x, y;
-}vertex_data;
+} vertex_data;
 
 typedef struct {
   vertex_data v[MODEL_PATH_MAX_VERTICES_CNT];
@@ -174,7 +170,6 @@ typedef struct UIState {
   int img_wheel;
   int img_turn;
   int img_face;
-  int img_map;
   int img_button_settings;
   int img_button_home;
   int img_battery;
@@ -183,7 +178,6 @@ typedef struct UIState {
 
   // sockets
   SubMaster *sm;
-  PubMaster *pm;
 
   cereal::UiLayoutState::App active_app;
 
@@ -219,12 +213,7 @@ typedef struct UIState {
 
   // timeouts
   int awake_timeout;
-  int controls_timeout;
-  int speed_lim_off_timeout;
   int is_metric_timeout;
-  int longitudinal_control_timeout;
-  int limit_set_speed_timeout;
-  int hardware_timeout;
   int last_athena_ping_timeout;
 
   bool controls_seen;
@@ -233,8 +222,6 @@ typedef struct UIState {
   int status;
   bool is_metric;
   bool longitudinal_control;
-  bool limit_set_speed;
-  float speed_lim_off;
   bool is_ego_over_limit;
   float alert_blinking_alpha;
   bool alert_blinked;