BigUI WIP: Optimizations

selfdrive/ui/layouts/settings/starpilot/maps.py

@@ -535,6 +535,7 @@ class StarPilotMapsLayout(StarPilotPanel):
     self._active_state_group_key = "whole_us"
     self._full_us_mode = True
     self._whole_us_context_initialized = False
+    self._cached_selected_tokens: set[str] = set()
 
     self._download_button = self._child(
       AetherButton(
@@ -585,6 +586,9 @@ class StarPilotMapsLayout(StarPilotPanel):
 
   def _update_state(self):
     super()._update_state()
+    self._cached_selected_tokens = _selected_token_set(
+      self._params.get("MapsSelected", encoding="utf-8") or ""
+    )
     self._sync_download_state()
     if self._pending_storage_state is not None:
       generation, storage_text, has_downloaded_data = self._pending_storage_state
@@ -692,7 +696,7 @@ class StarPilotMapsLayout(StarPilotPanel):
     return _format_mb(total_size), has_files
 
   def _selected_tokens(self) -> set[str]:
-    return _selected_token_set(self._params.get("MapsSelected", encoding="utf-8") or "")
+    return self._cached_selected_tokens
 
   def _selected_count(self) -> int:
     return len(self._selected_tokens())
@@ -903,7 +907,7 @@ class StarPilotMapsLayout(StarPilotPanel):
     return token in self._selected_tokens()
 
   def _set_map_state(self, token: str, state: bool):
-    selected = self._selected_tokens()
+    selected = set(self._cached_selected_tokens)
     if state:
       if token == US_COUNTRY_TOKEN:
         selected = {item for item in selected if not item.startswith(STATE_PREFIX)}
@@ -921,6 +925,7 @@ class StarPilotMapsLayout(StarPilotPanel):
         if self._active_state_group_key == "whole_us":
           self._active_state_group_key = STATES_SECTION["groups"][0]["key"]
     self._params.put("MapsSelected", sanitize_selected_locations_csv(sorted(selected)))
+    self._cached_selected_tokens = selected
 
   def _network_type(self):
     return ui_state.sm["deviceState"].networkType if ui_state.sm.valid.get("deviceState", False) else NetworkType.none

selfdrive/ui/onroad/model_renderer.py

@@ -125,7 +125,11 @@ class ModelRenderer(Widget):
 
     # StarPilot lead indicator visibility conditions
     hide_lead_marker = self._params.get_bool("HideLeadMarker")
-    lead_info_enabled = self._params.get_bool("LeadInfo")
+    self._lead_info_enabled = self._params.get_bool("LeadInfo")
+    self._use_rainbow = self._params.get_bool('RainbowPath', default=False)
+    self._use_accel_path = self._params.get_bool('AccelerationPath', default=True)
+    self._is_metric = self._params.get_bool('IsMetric')
+    lead_info_enabled = self._lead_info_enabled
     render_lead_indicator = (self._longitudinal_control or lead_info_enabled) and radar_state is not None and not hide_lead_marker
 
     # Update model data when needed
@@ -261,13 +265,12 @@ class ModelRenderer(Widget):
 
   def _update_experimental_gradient(self):
     """Pre-calculate experimental mode gradient colors"""
-    use_rainbow = self._params.get_bool('RainbowPath', default=False)
-    if use_rainbow:
+    if self._use_rainbow:
       gradient_bottom, gradient_top = self._get_visible_gradient_bounds()
       self._exp_gradient = self._build_rainbow_gradient(gradient_bottom, gradient_top)
       return
 
-    if not self._experimental_mode or not self._params.get_bool('AccelerationPath', default=True):
+    if not self._experimental_mode or not self._use_accel_path:
       return
 
     max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
@@ -399,8 +402,8 @@ class ModelRenderer(Widget):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
-    use_rainbow = self._params.get_bool('RainbowPath', default=False)
-    use_accel_path = not use_rainbow and self._params.get_bool('AccelerationPath', default=True)
+    use_rainbow = self._use_rainbow
+    use_accel_path = not use_rainbow and self._use_accel_path
     if use_rainbow:
       if len(self._exp_gradient.colors) > 1:
         draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
@@ -466,8 +469,7 @@ class ModelRenderer(Widget):
       rl.draw_triangle_fan(lead.chevron, len(lead.chevron), with_alpha(color, lead.fill_alpha))
 
       # Draw metrics if enabled
-      lead_info_enabled = self._params.get_bool("LeadInfo")
-      if lead_info_enabled and i < len(leads) and leads[i] and leads[i].status:
+      if self._lead_info_enabled and i < len(leads) and leads[i] and leads[i].status:
         self._draw_lead_metrics(False, lead.chevron, leads[i])
 
   def _update_adjacent_leads(self, starpilot_radar_state, path_x_array):
@@ -511,8 +513,7 @@ class ModelRenderer(Widget):
       rl.draw_triangle_fan(lead.chevron, len(lead.chevron), with_alpha(color, lead.fill_alpha))
 
       # Draw metrics if enabled
-      lead_info_enabled = self._params.get_bool("LeadInfo")
-      if lead_info_enabled:
+      if self._lead_info_enabled:
         self._draw_lead_metrics(True, lead.chevron, lead_data)
 
   def _draw_lead_metrics(self, adjacent, chevron, lead_data):
@@ -894,14 +895,14 @@ class ModelRenderer(Widget):
   def _small_distance_to_half_m(self, value: float) -> float:
     if value <= 0:
       return 0.0
-    if self._params.get_bool("IsMetric"):
+    if self._is_metric:
       return value / 200.0
     return value * (CV.INCH_TO_CM / 100.0) / 2.0
 
   def _path_width_to_half_m(self, value: float) -> float:
     if value <= 0:
       return 0.0
-    if self._params.get_bool("IsMetric"):
+    if self._is_metric:
       return value / 2.0
     return value * CV.FOOT_TO_METER / 2.0
 

selfdrive/ui/ui_state.py

@@ -164,9 +164,11 @@ class UIState:
       self.light_sensor = -1
 
     # Trust hardwared's filtered started state; raw ignition can flap on Toyota.
+    force_onroad = self.params.get_bool("ForceOnroad")
+    force_offroad = self.params.get_bool("ForceOffroad")
     started = self.sm["deviceState"].started
-    started |= self.params.get_bool("ForceOnroad")
-    started &= not self.params.get_bool("ForceOffroad")
+    started |= force_onroad
+    started &= not force_offroad
     self.started = started
 
     # Update recording audio state
@@ -197,8 +199,8 @@ class UIState:
         except Exception as e:
           cloudlog.warning(f"Error parsing starpilot_toggles: {e}")
 
-    self.starpilot_toggles["force_offroad"] = self.params.get_bool("ForceOffroad")
-    self.starpilot_toggles["force_onroad"] = self.params.get_bool("ForceOnroad")
+    self.starpilot_toggles["force_offroad"] = force_offroad
+    self.starpilot_toggles["force_onroad"] = force_onroad
 
   def _update_status(self) -> None:
     if self.started and self.sm.updated["selfdriveState"]: