raylib: don't use DEFAULT_FPS (#36228)

* dont use DEFAULT_FPS

* replace

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 DEFAULT_FPS
+from openpilot.system.ui.lib.application import gui_app
 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 / DEFAULT_FPS)
+    self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_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)

selfdrive/ui/ui_state.py

@@ -9,9 +9,8 @@ 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
+from openpilot.system.hardware import HARDWARE
 
 UI_BORDER_SIZE = 30
 BACKLIGHT_OFFROAD = 50
@@ -153,7 +152,7 @@ class Device:
 
     self._offroad_brightness: int = BACKLIGHT_OFFROAD
     self._last_brightness: int = 0
-    self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / DEFAULT_FPS)
+    self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
     self._brightness_thread: threading.Thread | None = None
 
   def reset_interactive_timeout(self, timeout: int = -1) -> None:

system/ui/lib/application.py

@@ -14,7 +14,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE, PC, TICI
 from openpilot.common.realtime import Ratekeeper
 
-DEFAULT_FPS = int(os.getenv("FPS", 20 if TICI else 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
@@ -142,10 +142,14 @@ class GuiApplication:
     # Debug variables
     self._mouse_history: deque[MousePos] = deque(maxlen=MOUSE_THREAD_RATE)
 
+  @property
+  def target_fps(self):
+    return self._target_fps
+
   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)

system/ui/widgets/network.py

@@ -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, DEFAULT_FPS
+from openpilot.system.ui.lib.application import gui_app
 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
@@ -50,8 +50,8 @@ 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 / DEFAULT_FPS, initialized=False)
-    self._y_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
+    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)
 
   def set_position(self, x: float, y: float) -> None:
     x = self._x_pos_filter.update(x)