ui: revert the 'alive' check to compare with scene.started_frame (com…

…maai#33794) Revert the 'alive' check to compare with scene.started_frame
deanlee · Oct 18, 2024 · af73d60 · af73d60
1 parent 4537a9d
commit af73d60
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
@@ -13,7 +13,7 @@ void HudRenderer::updateState(const UIState &s) {
   status = s.status;
 
   const SubMaster &sm = *(s.sm);
-  if (!sm.alive("carState")) {
+  if (sm.rcv_frame("carState") < s.scene.started_frame) {
     is_cruise_set = false;
     set_speed = SET_SPEED_NA;
     speed = 0.0;

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
@@ -14,9 +14,11 @@ static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float
 }
 
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
-  auto &sm = *(uiState()->sm);
+  auto *s = uiState();
+  auto &sm = *(s->sm);
   // Check if data is up-to-date
-  if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) {
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
     return;
   }