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ui: remove variable world_objects_visible, use rcv_frame #23264

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merged 1 commit into from
Dec 18, 2021
Merged

ui: remove variable world_objects_visible, use rcv_frame #23264

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2 changes: 1 addition & 1 deletion selfdrive/ui/qt/onroad.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -349,7 +349,7 @@ void NvgWindow::paintGL() {
CameraViewWidget::paintGL();

UIState *s = uiState();
if (s->scene.world_objects_visible) {
if (s->worldObjectsVisible()) {
QPainter painter(this);
painter.setRenderHint(QPainter::Antialiasing);
painter.setPen(Qt::NoPen);
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3 changes: 0 additions & 3 deletions selfdrive/ui/ui.cc
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Expand Up @@ -118,7 +118,6 @@ static void update_state(UIState *s) {
update_leads(s, sm["radarState"].getRadarState(), line);
}
if (sm.updated("liveCalibration")) {
scene.world_objects_visible = true;
auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
Eigen::Vector3d rpy;
rpy << rpy_list[0], rpy_list[1], rpy_list[2];
Expand Down Expand Up @@ -211,8 +210,6 @@ static void update_status(UIState *s) {
s->scene.end_to_end = Params().getBool("EndToEndToggle");
s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
}
// Invisible until we receive a calibration message.
s->scene.world_objects_visible = false;
}
started_prev = s->scene.started;
}
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5 changes: 3 additions & 2 deletions selfdrive/ui/ui.h
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Expand Up @@ -82,8 +82,6 @@ typedef struct {

typedef struct UIScene {
mat3 view_from_calib;
bool world_objects_visible;

cereal::PandaState::PandaType pandaType;

// modelV2
Expand All @@ -106,6 +104,9 @@ class UIState : public QObject {

public:
UIState(QObject* parent = 0);
inline bool worldObjectsVisible() const {
return sm->rcv_frame("liveCalibration") > scene.started_frame;
};

int fb_w = 0, fb_h = 0;

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