mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-06 08:46:11 +08:00
Efficiency batch 3: UI
F1 — Toggle cache (starpilot_annotated_camera.h + .cc): Added 25 typed cached members; all 32 starpilot_toggles.value() calls in paint code replaced with the cached versions. All reads happen once at the top of updateState() per frame. The only surviving raw call is in mousePressEvent (intentional — touch is rare, not paint-path). F2 — HUD gradient hoist (selfdrive/ui/qt/onroad/hud.cc): Header gradient is now a static const built once via lambda, no allocation per frame. Build, flash, and verify that toggling compass, simple_mode, radar_tracks etc. from settings still take effect live without a restart.
This commit is contained in:
whoisdomi
@@ -45,10 +45,13 @@ void HudRenderer::updateState(const UIState &s) {
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void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
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p.save();
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// Draw header gradient
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QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
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bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
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bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
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// Draw header gradient — constant stops, build once
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static const QLinearGradient bg = []() {
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QLinearGradient g(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
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g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
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g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
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return g;
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}();
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p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
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@@ -141,14 +141,42 @@ void StarPilotAnnotatedCameraWidget::updateState(const UIState &s, const StarPil
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const cereal::ModelDataV2::Reader &modelV2 = sm["modelV2"].getModelV2();
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const cereal::SelfdriveState::Reader &selfdriveState = sm["selfdriveState"].getSelfdriveState();
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if (scene.is_metric || starpilot_toggles.value("use_si_metrics").toBool()) {
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// Cache toggle lookups once per frame — avoids 30+ QJsonObject tree-walks in paint code
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const bool cachedUseSiMetrics = starpilot_toggles.value("use_si_metrics").toBool();
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cachedAdjacentPathMetrics = starpilot_toggles.value("adjacent_path_metrics").toBool();
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cachedBlindSpotPath = starpilot_toggles.value("blind_spot_path").toBool();
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cachedCemStatus = starpilot_toggles.value("cem_status").toBool();
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cachedColorScheme = starpilot_toggles.value("color_scheme").toString();
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cachedCompass = starpilot_toggles.value("compass").toBool();
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cachedCscStatus = starpilot_toggles.value("csc_status").toBool();
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cachedDynamicPedalsOnUi = starpilot_toggles.value("dynamic_pedals_on_ui").toBool();
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cachedHideSpeedLimit = starpilot_toggles.value("hide_speed_limit").toBool();
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cachedLaneDetectionWidth = starpilot_toggles.value("lane_detection_width").toDouble();
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cachedOpenpilotLongitudinal = starpilot_toggles.value("openpilot_longitudinal").toBool();
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cachedPathEdgesColor = starpilot_toggles.value("path_edges_color").toString();
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cachedPedalsOnUi = starpilot_toggles.value("pedals_on_ui").toBool();
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cachedRadarTracks = starpilot_toggles.value("radar_tracks").toBool();
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cachedRoadNameUi = starpilot_toggles.value("road_name_ui").toBool();
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cachedShowSpeedLimitOffset = starpilot_toggles.value("show_speed_limit_offset").toBool();
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cachedShowSpeedLimits = starpilot_toggles.value("show_speed_limits").toBool();
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cachedShowStoppingPoint = starpilot_toggles.value("show_stopping_point").toBool();
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cachedShowStoppingPointMetrics = starpilot_toggles.value("show_stopping_point_metrics").toBool();
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cachedSignalIcons = starpilot_toggles.value("signal_icons").toString();
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cachedSimpleMode = starpilot_toggles.value("simple_mode").toBool();
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cachedSpeedLimitController = starpilot_toggles.value("speed_limit_controller").toBool();
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cachedSpeedLimitSources = starpilot_toggles.value("speed_limit_sources").toBool();
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cachedSpeedLimitVienna = starpilot_toggles.value("speed_limit_vienna").toBool();
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cachedStaticPedalsOnUi = starpilot_toggles.value("static_pedals_on_ui").toBool();
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cachedStoppedTimer = starpilot_toggles.value("stopped_timer").toBool();
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if (scene.is_metric || cachedUseSiMetrics) {
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leadDistanceUnit = tr(" meters");
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leadSpeedUnit = starpilot_toggles.value("use_si_metrics").toBool() ? tr(" m/s") : tr(" km/h");
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leadSpeedUnit = cachedUseSiMetrics ? tr(" m/s") : tr(" km/h");
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speedUnit = scene.is_metric ? tr("km/h") : tr("mph");
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distanceConversion = 1.0f;
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speedConversion = scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
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speedConversionMetrics = starpilot_toggles.value("use_si_metrics").toBool() ? 1.0f : MS_TO_KPH;
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speedConversionMetrics = cachedUseSiMetrics ? 1.0f : MS_TO_KPH;
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} else {
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leadDistanceUnit = tr(" feet");
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leadSpeedUnit = tr(" mph");
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@@ -196,7 +224,7 @@ void StarPilotAnnotatedCameraWidget::updateState(const UIState &s, const StarPil
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hideBottomIcons |= starpilotSelfdriveState.getAlertSize() != cereal::StarPilotSelfdriveState::AlertSize::NONE;
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hideBottomIcons |= signalStyle.startsWith("traditional") && (blinkerLeft || blinkerRight);
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if (slcOverriddenSpeed == 0 && !starpilot_toggles.value("show_speed_limit_offset").toBool()) {
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if (slcOverriddenSpeed == 0 && !cachedShowSpeedLimitOffset) {
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speedLimit += starpilotPlan.getSlcSpeedLimitOffset();
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}
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speedLimit *= (scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
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@@ -204,7 +232,7 @@ void StarPilotAnnotatedCameraWidget::updateState(const UIState &s, const StarPil
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speedLimitOffsetStr = (speedLimitOffset != 0) ? QString::number(speedLimitOffset, 'f', 0).prepend((speedLimitOffset > 0) ? "+" : "-") : "–";
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static int lastFrameIndex;
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if (lastFrameIndex > animationFrameIndex && starpilot_toggles.value("signal_icons").toString() == "frog") {
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if (lastFrameIndex > animationFrameIndex && cachedSignalIcons == "frog") {
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frogHopCount++;
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}
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lastFrameIndex = animationFrameIndex;
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@@ -234,7 +262,7 @@ void StarPilotAnnotatedCameraWidget::updateState(const UIState &s, const StarPil
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pendingLimitTimer.invalidate();
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}
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if (starpilot_scene.standstill && starpilot_toggles.value("stopped_timer").toBool()) {
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if (starpilot_scene.standstill && cachedStoppedTimer) {
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if (!standstillTimer.isValid()) {
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standstillTimer.start();
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} else {
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@@ -262,7 +290,7 @@ void StarPilotAnnotatedCameraWidget::mousePressEvent(QMouseEvent *mouseEvent) {
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}
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void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState &s) {
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if (starpilot_toggles.value("simple_mode").toBool()) {
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if (cachedSimpleMode) {
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cemStatusPosition = QPoint(0, 0);
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compassPosition = QPoint(0, 0);
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lateralPausedPosition = QPoint(0, 0);
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@@ -271,21 +299,21 @@ void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState
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return;
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}
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if (!hideBottomIcons && starpilot_toggles.value("cem_status").toBool()) {
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if (!hideBottomIcons && cachedCemStatus) {
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paintCEMStatus(p);
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} else {
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cemStatusPosition.setX(0);
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cemStatusPosition.setY(0);
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}
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if (!hideBottomIcons && starpilot_toggles.value("compass").toBool()) {
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if (!hideBottomIcons && cachedCompass) {
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paintCompass(p);
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} else {
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compassPosition.setX(0);
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compassPosition.setY(0);
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}
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if (!speedLimitChanged && !(signalStyle == "static" && blinkerLeft) && starpilot_toggles.value("csc_status").toBool()) {
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if (!speedLimitChanged && !(signalStyle == "static" && blinkerLeft) && cachedCscStatus) {
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if (cscTraining) {
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paintCurveSpeedControlTraining(p);
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} else if (isCruiseSet && cscControllingSpeed) {
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@@ -304,7 +332,7 @@ void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState
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paintLongitudinalPaused(p);
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}
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if (starpilot_toggles.value("pedals_on_ui").toBool()) {
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if (cachedPedalsOnUi) {
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paintPedalIcons(p);
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}
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@@ -312,22 +340,22 @@ void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState
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paintPendingSpeedLimit(p);
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}
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if (starpilot_toggles.value("radar_tracks").toBool()) {
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if (cachedRadarTracks) {
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paintRadarTracks(p);
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}
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if (starpilot_toggles.value("road_name_ui").toBool()) {
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if (cachedRoadNameUi) {
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paintRoadName(p);
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}
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bool hideSpeedLimit = !speedLimitChanged && starpilot_toggles.value("hide_speed_limit").toBool();
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if (!hideSpeedLimit && (starpilot_toggles.value("show_speed_limits").toBool() || starpilot_toggles.value("speed_limit_controller").toBool())) {
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bool hideSpeedLimit = !speedLimitChanged && cachedHideSpeedLimit;
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if (!hideSpeedLimit && (cachedShowSpeedLimits || cachedSpeedLimitController)) {
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paintSpeedLimit(p);
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} else {
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speedLimitHeight = 0;
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}
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if (starpilot_toggles.value("speed_limit_sources").toBool()) {
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if (cachedSpeedLimitSources) {
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paintSpeedLimitSources(p);
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}
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@@ -335,7 +363,7 @@ void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState
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paintStandstillTimer(p);
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}
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if (track_vertices.length() >= 1 && redLight && starpilot_toggles.value("show_stopping_point").toBool()) {
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if (track_vertices.length() >= 1 && redLight && cachedShowStoppingPoint) {
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paintStoppingPoint(p);
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}
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@@ -357,12 +385,12 @@ void StarPilotAnnotatedCameraWidget::paintAdjacentPaths(QPainter &p) {
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p.save();
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QLinearGradient gradient(0, height(), 0, 0);
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if (isBlindSpot && starpilot_toggles.value("blind_spot_path").toBool()) {
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if (isBlindSpot && cachedBlindSpotPath) {
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gradient.setColorAt(0.0f, QColor::fromHslF(0.0f, 0.75f, 0.5f, 0.4f));
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gradient.setColorAt(0.5f, QColor::fromHslF(0.0f, 0.75f, 0.5f, 0.35f));
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gradient.setColorAt(1.0f, QColor::fromHslF(0.0f, 0.75f, 0.5f, 0.0f));
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} else {
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float ratio = std::clamp(laneWidth / starpilot_toggles.value("lane_detection_width").toDouble(), 0.0, 1.0);
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float ratio = std::clamp(laneWidth / cachedLaneDetectionWidth, 0.0, 1.0);
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float hue = (ratio * ratio) * (120.0f / 360.0f);
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gradient.setColorAt(0.0f, QColor::fromHslF(hue, 0.75f, 0.5f, 0.4f));
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@@ -373,9 +401,9 @@ void StarPilotAnnotatedCameraWidget::paintAdjacentPaths(QPainter &p) {
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p.setBrush(gradient);
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p.drawPolygon(path);
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if (starpilot_toggles.value("adjacent_path_metrics").toBool()) {
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if (cachedAdjacentPathMetrics) {
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QString text;
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if (isBlindSpot && starpilot_toggles.value("blind_spot_path").toBool()) {
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if (isBlindSpot && cachedBlindSpotPath) {
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text = tr("Vehicle in blind spot");
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} else {
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text = QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit;
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@@ -657,7 +685,7 @@ void StarPilotAnnotatedCameraWidget::paintLeadMetrics(QPainter &p, bool adjacent
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textLines.append(QString("%1 %2").arg(distanceString, leadDistanceUnit));
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textLines.append(QString("%1 %2").arg(speedString, leadSpeedUnit));
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} else {
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if (starpilot_toggles.value("openpilot_longitudinal").toBool()) {
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if (cachedOpenpilotLongitudinal) {
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int desiredDistance = std::max(0, qRound(desiredFollowDistance * distanceConversion));
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textLines.append(QString("%1 %2 (%3)").arg(distanceString, leadDistanceUnit, tr("Desired: %1").arg(desiredDistance)));
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} else {
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@@ -764,8 +792,8 @@ void StarPilotAnnotatedCameraWidget::paintPathEdges(QPainter &p, int height) {
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setPathEdgeColors(bg_colors[STATUS_EXPERIMENTAL_MODE_ENABLED]);
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} else if (starpilot_scene.traffic_mode_enabled) {
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setPathEdgeColors(bg_colors[STATUS_TRAFFIC_MODE_ENABLED]);
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} else if (starpilot_toggles.value("color_scheme").toString() != "stock") {
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setPathEdgeColors(QColor(starpilot_toggles.value("path_edges_color").toString()));
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} else if (cachedColorScheme != "stock") {
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setPathEdgeColors(QColor(cachedPathEdgesColor));
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} else {
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gradient.setColorAt(0.0f, QColor::fromHslF(148.0f / 360.0f, 0.94f, 0.41f, 0.4f));
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gradient.setColorAt(0.5f, QColor::fromHslF(112.0f / 360.0f, 1.0f, 0.54f, 0.35f));
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@@ -788,10 +816,10 @@ void StarPilotAnnotatedCameraWidget::paintPedalIcons(QPainter &p) {
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float brakeOpacity = 1.0f;
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float gasOpacity = 1.0f;
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if (starpilot_toggles.value("dynamic_pedals_on_ui").toBool()) {
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if (cachedDynamicPedalsOnUi) {
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brakeOpacity = starpilot_scene.standstill ? 1.0f : accelerationEgo < -0.25f ? std::max(0.25f, std::abs(accelerationEgo)) : 0.25f;
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gasOpacity = std::max(0.25f, accelerationEgo);
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} else if (starpilot_toggles.value("static_pedals_on_ui").toBool()) {
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} else if (cachedStaticPedalsOnUi) {
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brakeOpacity = starpilot_scene.standstill || brakeLights || accelerationEgo < -0.25f ? 1.0f : 0.25f;
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gasOpacity = accelerationEgo > 0.25 ? 1.0f : 0.25f;
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}
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@@ -814,7 +842,7 @@ void StarPilotAnnotatedCameraWidget::paintPendingSpeedLimit(QPainter &p) {
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QString newSpeedLimitStr = (unconfirmedSpeedLimit > 1) ? QString::number(std::nearbyint(unconfirmedSpeedLimit * speedConversion)) : "–";
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newSpeedLimitRect = speedLimitRect.translated(speedLimitRect.width() + UI_BORDER_SIZE, 0);
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if (!starpilot_toggles.value("speed_limit_vienna").toBool()) {
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if (!cachedSpeedLimitVienna) {
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newSpeedLimitRect.setWidth(newSpeedLimitStr.size() >= 3 ? 200 : 175);
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p.setBrush(whiteColor());
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@@ -924,7 +952,7 @@ void StarPilotAnnotatedCameraWidget::paintSpeedLimit(QPainter &p) {
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QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
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bool hasUsSpeedLimit = !starpilot_toggles.value("speed_limit_vienna").toBool();
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bool hasUsSpeedLimit = !cachedSpeedLimitVienna;
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bool hasEuSpeedLimit = !hasUsSpeedLimit;
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int euSignSize = 176;
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@@ -953,7 +981,7 @@ void StarPilotAnnotatedCameraWidget::paintSpeedLimit(QPainter &p) {
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p.drawRoundedRect(signRect.adjusted(9, 9, -9, -9), 16, 16);
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p.setOpacity(slcOverriddenSpeed == 0 ? 1.0 : 0.25);
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if (slcOverriddenSpeed == 0 && starpilot_toggles.value("show_speed_limit_offset").toBool()) {
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if (slcOverriddenSpeed == 0 && cachedShowSpeedLimitOffset) {
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p.setFont(InterFont(28, QFont::DemiBold));
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p.drawText(signRect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
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p.setFont(InterFont(70, QFont::Bold));
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@@ -978,7 +1006,7 @@ void StarPilotAnnotatedCameraWidget::paintSpeedLimit(QPainter &p) {
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p.setOpacity(slcOverriddenSpeed == 0 ? 1.0 : 0.25);
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p.setPen(blackColor());
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if (starpilot_toggles.value("show_speed_limit_offset").toBool()) {
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if (cachedShowSpeedLimitOffset) {
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p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
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p.drawText(signRect.adjusted(0, -25, 0, 0), Qt::AlignCenter, speedLimitStr);
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p.setFont(InterFont(40, QFont::DemiBold));
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@@ -1110,7 +1138,7 @@ void StarPilotAnnotatedCameraWidget::paintStoppingPoint(QPainter &p) {
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QPointF stopSignPosition = centerPoint - QPointF(stopSignImg.width() / 2.0f, stopSignImg.height());
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p.drawPixmap(stopSignPosition, stopSignImg);
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if (starpilot_toggles.value("show_stopping_point_metrics").toBool()) {
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if (cachedShowStoppingPointMetrics) {
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float distance = stoppingDistance * distanceConversion;
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QString distanceText = QString::number(std::nearbyint(distance)) + leadDistanceUnit;
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@@ -92,6 +92,33 @@ private:
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bool speedLimitChanged;
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bool weatherDaytime;
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// Cached toggle values — refreshed once per updateState(), used in paint code
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bool cachedAdjacentPathMetrics = false;
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bool cachedBlindSpotPath = false;
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bool cachedCemStatus = false;
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bool cachedCompass = false;
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bool cachedCscStatus = false;
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bool cachedDynamicPedalsOnUi = false;
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bool cachedHideSpeedLimit = false;
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bool cachedOpenpilotLongitudinal = false;
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bool cachedPedalsOnUi = false;
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bool cachedRadarTracks = false;
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bool cachedRoadNameUi = false;
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bool cachedShowSpeedLimitOffset = false;
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bool cachedShowSpeedLimits = false;
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bool cachedShowStoppingPoint = false;
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bool cachedShowStoppingPointMetrics = false;
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bool cachedSimpleMode = false;
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bool cachedSpeedLimitController = false;
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bool cachedSpeedLimitSources = false;
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bool cachedSpeedLimitVienna = false;
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bool cachedStaticPedalsOnUi = false;
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bool cachedStoppedTimer = false;
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double cachedLaneDetectionWidth = 3.7;
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QString cachedColorScheme;
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QString cachedPathEdgesColor;
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QString cachedSignalIcons;
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int animationFrameIndex;
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int desiredFollowDistance;
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int frogHopCount;
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