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Revert "Reapply "raylib: 20 FPS onroad (#36208)""

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This reverts commit ed185e90f6.
This commit is contained in:
Shane Smiskol
2025-09-30 16:34:45 -07:00
parent e4784d44f6
commit 16a4206720
6 changed files with 16 additions and 41 deletions
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11
common/filter_simple.py
View File

@@ -1,21 +1,16 @@
class FirstOrderFilter:
def __init__(self, x0, rc, dt, initialized=True):
self.x = x0
self._dt = dt
self.dt = dt
self.update_alpha(rc)
self.initialized = initialized
def update_dt(self, dt):
self._dt = dt
self.update_alpha(self._rc)
def update_alpha(self, rc):
self._rc = rc
self._alpha = self._dt / (self._rc + self._dt)
self.alpha = self.dt / (rc + self.dt)
def update(self, x):
if self.initialized:
self.x = (1. - self._alpha) * self.x + self._alpha * x
self.x = (1. - self.alpha) * self.x + self.alpha * x
else:
self.initialized = True
self.x = x

10
selfdrive/ui/layouts/main.py
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@@ -1,7 +1,6 @@
import pyray as rl
from enum import IntEnum
import cereal.messaging as messaging
from openpilot.system.ui.lib.application import gui_app
from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
from openpilot.selfdrive.ui.layouts.home import HomeLayout
from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
@@ -11,10 +10,6 @@ from openpilot.system.ui.widgets import Widget
from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
ONROAD_FPS = 20
OFFROAD_FPS = 60
class MainState(IntEnum):
HOME = 0
SETTINGS = 1
@@ -31,8 +26,6 @@ class MainLayout(Widget):
self._current_mode = MainState.HOME
self._prev_onroad = False
gui_app.set_target_fps(OFFROAD_FPS)
# Initialize layouts
self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
@@ -87,9 +80,6 @@ class MainLayout(Widget):
self._current_mode = layout
self._layouts[self._current_mode].show_event()
# No need to draw onroad faster than source (model at 20Hz) and prevents screen tearing
gui_app.set_target_fps(ONROAD_FPS if self._current_mode == MainState.ONROAD else OFFROAD_FPS)
def open_settings(self, panel_type: PanelType):
self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
self._set_current_layout(MainState.SETTINGS)

5
selfdrive/ui/onroad/model_renderer.py
View File

@@ -7,7 +7,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params
from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.application import DEFAULT_FPS
from openpilot.system.ui.lib.shader_polygon import draw_polygon
from openpilot.system.ui.widgets import Widget
@@ -48,7 +48,7 @@ class ModelRenderer(Widget):
super().__init__()
self._longitudinal_control = False
self._experimental_mode = False
self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / DEFAULT_FPS)
self._prev_allow_throttle = True
self._lane_line_probs = np.zeros(4, dtype=np.float32)
self._road_edge_stds = np.zeros(2, dtype=np.float32)
@@ -277,7 +277,6 @@ class ModelRenderer(Widget):
return
allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
self._blend_filter.update_dt(1 / gui_app.target_fps)
self._blend_filter.update(int(allow_throttle))
if self._experimental_mode:

4
selfdrive/ui/ui_state.py
View File

@@ -9,6 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params, UnknownKeyName
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.ui.lib.prime_state import PrimeState
from openpilot.system.ui.lib.application import DEFAULT_FPS
from openpilot.system.hardware import HARDWARE
from openpilot.system.ui.lib.application import gui_app
@@ -152,7 +153,7 @@ class Device:
self._offroad_brightness: int = BACKLIGHT_OFFROAD
self._last_brightness: int = 0
self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / DEFAULT_FPS)
self._brightness_thread: threading.Thread | None = None
def reset_interactive_timeout(self, timeout: int = -1) -> None:
@@ -189,7 +190,6 @@ class Device:
clipped_brightness = float(np.clip(100 * clipped_brightness, 10, 100))
self._brightness_filter.update_dt(1 / gui_app.target_fps)
brightness = round(self._brightness_filter.update(clipped_brightness))
if not self._awake:
brightness = 0

19
system/ui/lib/application.py
View File

@@ -11,10 +11,10 @@ from enum import StrEnum
from typing import NamedTuple
from importlib.resources import as_file, files
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware import HARDWARE, PC, TICI
from openpilot.common.realtime import Ratekeeper
_DEFAULT_FPS = int(os.getenv("FPS", "60"))
DEFAULT_FPS = int(os.getenv("FPS", 20 if TICI else 60))
FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops
FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning
FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions
@@ -130,7 +130,7 @@ class GuiApplication:
self._scaled_height = int(self._height * self._scale)
self._render_texture: rl.RenderTexture | None = None
self._textures: dict[str, rl.Texture] = {}
self._target_fps: int = _DEFAULT_FPS
self._target_fps: int = DEFAULT_FPS
self._last_fps_log_time: float = time.monotonic()
self._window_close_requested = False
self._trace_log_callback = None
@@ -145,7 +145,7 @@ class GuiApplication:
def request_close(self):
self._window_close_requested = True
def init_window(self, title: str, fps: int = _DEFAULT_FPS):
def init_window(self, title: str, fps: int = DEFAULT_FPS):
atexit.register(self.close) # Automatically call close() on exit
HARDWARE.set_display_power(True)
@@ -164,22 +164,15 @@ class GuiApplication:
rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
self._render_texture = rl.load_render_texture(self._width, self._height)
rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
rl.set_target_fps(fps)
self.set_target_fps(fps)
self._target_fps = fps
self._set_styles()
self._load_fonts()
if not PC:
self._mouse.start()
@property
def target_fps(self):
return self._target_fps
def set_target_fps(self, fps: int):
self._target_fps = fps
rl.set_target_fps(fps)
def set_modal_overlay(self, overlay, callback: Callable | None = None):
self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)

8
system/ui/widgets/network.py
View File

@@ -5,7 +5,7 @@ from typing import cast
import pyray as rl
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.application import gui_app, DEFAULT_FPS
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType
from openpilot.system.ui.widgets import Widget
@@ -50,12 +50,10 @@ class NavButton(Widget):
super().__init__()
self.text = text
self.set_rect(rl.Rectangle(0, 0, 400, 100))
self._x_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._y_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
self._x_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
self._y_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
def set_position(self, x: float, y: float) -> None:
self._x_pos_filter.update_dt(1 / gui_app.target_fps)
self._y_pos_filter.update_dt(1 / gui_app.target_fps)
x = self._x_pos_filter.update(x)
y = self._y_pos_filter.update(y)
changed = (self._rect.x != x or self._rect.y != y)