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IQ.Lvbs CI [bot]
69 lines
2.4 KiB
Python
Executable File
69 lines
2.4 KiB
Python
Executable File
#!/usr/bin/env python3
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import ctypes
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import os
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import time
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import pyray as rl
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from openpilot.system.hardware import TICI
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from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.selfdrive.ui.layouts.main import MainLayout
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from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
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from openpilot.selfdrive.ui.ui_state import ui_state
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_FPS_OVERRIDE = os.getenv("FPS")
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UI_OFFROAD_FPS = int(os.getenv("UI_OFFROAD_FPS", _FPS_OVERRIDE or "60"))
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UI_ONROAD_FPS = int(os.getenv("UI_ONROAD_FPS", _FPS_OVERRIDE or "20"))
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def main():
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cores = {5, }
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# Run the UI above plannerd/radard (CTRL_LOW=51), which share core 5 with us after the TICI
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# reaffine. At equal priority under SCHED_FIFO the render loop can't preempt their bursts and
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# misses the vblank deadline onroad; stock runs the UI at CTRL_HIGH for exactly this reason.
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config_realtime_process(0, Priority.CTRL_HIGH)
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gui_app.init_window("UI", fps=UI_OFFROAD_FPS, screen_recordable=True)
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big = gui_app.big_ui()
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if big:
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# BIG UI (comma 3/3x): rendered manually each frame (unchanged).
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main_layout = MainLayout()
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main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
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else:
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# mici (comma 4): drives the nav stack; MiciMainLayout pushes itself in __init__
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# and is rendered by gui_app.render() (settings push on top).
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main_layout = MiciMainLayout()
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# Tile decode/upload churn (1MB stb buffers off worker threads) grows glibc arenas
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# that are never returned to the kernel; periodic trim keeps freed pages from
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# accumulating as resident memory on long map/nav drives.
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libc_trim = None
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if TICI:
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try:
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libc_trim = ctypes.CDLL("libc.so.6").malloc_trim
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except (OSError, AttributeError):
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libc_trim = None
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last_trim = time.monotonic()
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for should_render in gui_app.render():
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ui_state.update()
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gui_app.set_target_fps(UI_ONROAD_FPS if ui_state.started else UI_OFFROAD_FPS)
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if should_render:
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if big:
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main_layout.render()
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# reaffine after power save offlines our core
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if TICI and os.sched_getaffinity(0) != cores:
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try:
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set_core_affinity(list(cores))
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except OSError:
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pass
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if libc_trim is not None and time.monotonic() - last_trim > 300.0:
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last_trim = time.monotonic()
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libc_trim(0)
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if __name__ == "__main__":
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main()
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