cleanup

Author: rebelzoo

cereal/custom.capnp

@@ -454,8 +454,7 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   }
 }
 
-struct ControllerStateBP @0xcb9fd56c7057593a {
-  lateralUncertainty @0 :Float32; #BluePilot
+struct CustomReserved10 @0xcb9fd56c7057593a {
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {
@@ -464,7 +463,8 @@ struct CustomReserved11 @0xc2243c65e0340384 {
 struct CustomReserved12 @0x9ccdc8676701b412 {
 }
 
-struct CustomReserved13 @0xcd96dafb67a082d0 {
+struct ControllerStateBP @0xcd96dafb67a082d0 {
+    lateralUncertainty @0 :Float32; #BluePilot
 }
 
 struct CustomReserved14 @0xb057204d7deadf3f {

cereal/log.capnp

@@ -2635,10 +2635,10 @@ struct Event {
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
     modelDataV2SP @116 :Custom.ModelDataV2SP;
-    controllerStateBP @136 :Custom.ControllerStateBP;
+    customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
-    customReserved13 @139 :Custom.CustomReserved13;
+    controllerStateBP @139 :Custom.ControllerStateBP;
     customReserved14 @140 :Custom.CustomReserved14;
     customReserved15 @141 :Custom.CustomReserved15;
     customReserved16 @142 :Custom.CustomReserved16;

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -172,7 +172,8 @@ def _update_state(self) -> None:
   def _render(self, rect: rl.Rectangle) -> None:
     """Render HUD elements to the screen."""
 
-    self._torque_bar.render(rect)
+    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' or ui_state.sm.updated["controllerStateBP"]:
+      self._torque_bar.render(rect)
 
     if self.is_cruise_set:
       self._draw_set_speed(rect)

selfdrive/ui/mici/onroad/torque_bar.py

@@ -185,9 +185,6 @@ def _update_state(self):
       self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
   def _render(self, rect: rl.Rectangle) -> None:
-    if ui_state.sm['controlsState'].lateralControlState.which() == 'angleState' and not ui_state.sm.updated["controllerStateBP"]:
-      return
-
     # adjust y pos with torque
     torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22, 26])
     torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14, 56])