Visuals - Developer UI - FPS counter

Display the 'Frames Per Second' (FPS) of your onroad UI for monitoring system performance.

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -615,6 +615,7 @@ void AnnotatedCameraWidget::paintGL() {
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;
   double fps = fps_filter.update(1. / dt * 1000);
+  s->scene.fps = fps;
   if (fps < 15) {
     LOGW("slow frame rate: %.2f fps", fps);
   }

selfdrive/ui/qt/onroad/onroad_home.cc

@@ -86,7 +86,9 @@ void OnroadWindow::updateState(const UIState &s) {
 
   blindSpotLeft = scene.blind_spot_left;
   blindSpotRight = scene.blind_spot_right;
+  fps = scene.fps;
   showBlindspot = scene.show_blind_spot && (blindSpotLeft || blindSpotRight);
+  showFPS = scene.show_fps;
   showSignal = scene.show_signal && (turnSignalLeft || turnSignalRight);
   showSteering = scene.show_steering;
   steer = scene.steer;
@@ -94,7 +96,7 @@ void OnroadWindow::updateState(const UIState &s) {
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
 
-  if (showBlindspot || showSignal || showSteering) {
+  if (showBlindspot || showFPS || showSignal || showSteering) {
     shouldUpdate = true;
   }
 
@@ -323,4 +325,47 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
       p.fillRect(signalRectRight, signalBorderColorRight);
     }
   }
+
+  if (showFPS) {
+    qint64 currentMillis = QDateTime::currentMSecsSinceEpoch();
+    static std::queue<std::pair<qint64, float>> fpsQueue;
+
+    static float avgFPS = 0.0;
+    static float maxFPS = 0.0;
+    static float minFPS = 99.9;
+
+    minFPS = std::min(minFPS, fps);
+    maxFPS = std::max(maxFPS, fps);
+
+    fpsQueue.push({currentMillis, fps});
+
+    while (!fpsQueue.empty() && currentMillis - fpsQueue.front().first > 60000) {
+      fpsQueue.pop();
+    }
+
+    if (!fpsQueue.empty()) {
+      float totalFPS = 0.0;
+      for (auto tempQueue = fpsQueue; !tempQueue.empty(); tempQueue.pop()) {
+        totalFPS += tempQueue.front().second;
+      }
+      avgFPS = totalFPS / fpsQueue.size();
+    }
+
+    QString fpsDisplayString = QString("FPS: %1 (%2) | Min: %3 | Max: %4 | Avg: %5")
+        .arg(qRound(fps))
+        .arg(paramsMemory.getInt("CameraFPS"))
+        .arg(qRound(minFPS))
+        .arg(qRound(maxFPS))
+        .arg(qRound(avgFPS));
+
+    p.setFont(InterFont(28, QFont::DemiBold));
+    p.setRenderHint(QPainter::TextAntialiasing);
+    p.setPen(Qt::white);
+
+    int textWidth = p.fontMetrics().horizontalAdvance(fpsDisplayString);
+    int xPos = (rect.width() - textWidth) / 2;
+    int yPos = rect.bottom() - 5;
+
+    p.drawText(xPos, yPos, fpsDisplayString);
+  }
 }

selfdrive/ui/qt/onroad/onroad_home.h

@@ -28,11 +28,13 @@ private:
   bool blindSpotLeft;
   bool blindSpotRight;
   bool showBlindspot;
+  bool showFPS;
   bool showSignal;
   bool showSteering;
   bool turnSignalLeft;
   bool turnSignalRight;
 
+  float fps;
   float steer;
 
   int steeringAngleDeg;

selfdrive/ui/ui.cc

@@ -342,6 +342,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   bool developer_ui = params.getBool("DeveloperUI");
   bool border_metrics = developer_ui && params.getBool("BorderMetrics");
   scene.show_blind_spot = border_metrics && params.getBool("BlindSpotMetrics");
+  scene.show_fps = developer_ui && params.getBool("FPSCounter");
   scene.show_signal = border_metrics && params.getBool("SignalMetrics");
   scene.show_steering = border_metrics && params.getBool("ShowSteering");
 

selfdrive/ui/ui.h

@@ -157,6 +157,7 @@ typedef struct UIScene {
   bool show_aol_status_bar;
   bool show_blind_spot;
   bool show_cem_status_bar;
+  bool show_fps;
   bool show_signal;
   bool show_slc_offset;
   bool show_slc_offset_ui;
@@ -177,6 +178,8 @@ typedef struct UIScene {
   bool use_vienna_slc_sign;
   bool vtsc_controlling_curve;
 
+  double fps;
+
   float adjusted_cruise;
   float lane_detection_width;
   float lane_width_left;

system/camerad/cameras/camera_qcom2.cc

@@ -960,6 +960,9 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
 void cameras_run(MultiCameraState *s) {
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
+  const std::chrono::seconds fpsUpdateInterval(1);
+  std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
+  int frameCount = 0;
 
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
@@ -1003,6 +1006,17 @@ void cameras_run(MultiCameraState *s) {
         // for debugging
         //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20);
 
+        frameCount++;
+
+        std::chrono::steady_clock::time_point currentTime = std::chrono::steady_clock::now();
+        if (currentTime - startTime >= fpsUpdateInterval) {
+          auto duration = std::chrono::duration_cast<std::chrono::seconds>(currentTime - startTime).count();
+          double fps = frameCount / duration;
+          paramsMemory.putIntNonBlocking("CameraFPS", fps / 3);
+          frameCount = 0;
+          startTime = currentTime;
+        }
+
         if (event_data->session_hdl == s->road_cam.session_handle) {
           s->road_cam.handle_camera_event(event_data);
         } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {