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

This reverts commit 8de8c3eb00.

selfdrive/ui/layouts/main.py

@@ -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
@@ -10,10 +9,6 @@ from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 
 
-ONROAD_FPS = 20
-OFFROAD_FPS = 60
-
-
 class MainState(IntEnum):
   HOME = 0
   SETTINGS = 1
@@ -30,8 +25,6 @@ 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()}
 
@@ -81,9 +74,6 @@ 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)

selfdrive/ui/onroad/model_renderer.py

@@ -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:

selfdrive/ui/ui_state.py

@@ -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