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ui crashout

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firestar5683
2026-04-13 18:10:22 -05:00
parent 2e53cc45e6
commit 779557303b
2 changed files with 51 additions and 11 deletions
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selfdrive/ui/mici/onroad/cameraview.py
+6 -2
View File
@@ -1,3 +1,4 @@
import os
import platform
import numpy as np
import pyray as rl
@@ -11,6 +12,7 @@ from openpilot.system.ui.widgets import Widget
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
CONNECTION_RETRY_INTERVAL = 0.2 # seconds between connection attempts
MICI_FORCE_TEXTURE_CAMERA = os.getenv("MICI_FORCE_TEXTURE_CAMERA", "1") == "1"
VERSION = """
#version 300 es
@@ -110,8 +112,10 @@ class CameraView(Widget):
self._texture_needs_update = True
self.last_connection_attempt: float = 0.0
self._use_egl = TICI and init_egl()
if TICI and not self._use_egl:
self._use_egl = TICI and not MICI_FORCE_TEXTURE_CAMERA and init_egl()
if TICI and MICI_FORCE_TEXTURE_CAMERA:
cloudlog.warning("CameraView EGL disabled by MICI_FORCE_TEXTURE_CAMERA, using texture rendering")
elif TICI and not self._use_egl:
cloudlog.error("CameraView EGL init failed, falling back to texture rendering")
frame_shader = FRAME_FRAGMENT_SHADER_EXTERNAL if self._use_egl else FRAME_FRAGMENT_SHADER_YUV
selfdrive/ui/ui.cc
+45 -9
View File
@@ -105,6 +105,27 @@ void write_ui_thread_snapshot(int fd) {
write_stall_dump_section(fd, "main_thread kernel_stack", util::read_file(task_dir + "/stack"));
}
double ui_elapsed_s(uint64_t now, uint64_t then) {
if (then == 0 || now < then) {
return 0.0;
}
return static_cast<double>(now - then) / 1e9;
}
bool ui_timestamp_anomaly(uint64_t now, uint64_t then, const char *context, UIStallPhase phase, uint64_t frame) {
if (then == 0 || now >= then) {
return false;
}
LOGW("UI stall monitor timestamp anomaly (%s now_ns=%llu then_ns=%llu phase=%s frame=%llu)",
context,
static_cast<unsigned long long>(now),
static_cast<unsigned long long>(then),
ui_stall_phase_name(phase),
static_cast<unsigned long long>(frame));
return true;
}
void ui_stall_progress(UIStallPhase phase, uint64_t frame = 0) {
const uint64_t now = nanos_since_boot();
ui_stall_phase.store(static_cast<int>(phase), std::memory_order_relaxed);
@@ -114,7 +135,10 @@ void ui_stall_progress(UIStallPhase phase, uint64_t frame = 0) {
if (ui_stall_reported.exchange(false, std::memory_order_relaxed)) {
const uint64_t stall_started = ui_stall_reported_ns.load(std::memory_order_relaxed);
const UIStallPhase stalled_phase = static_cast<UIStallPhase>(ui_stall_reported_phase.load(std::memory_order_relaxed));
const double stalled_for_s = stall_started == 0 ? 0.0 : (now - stall_started) / 1e9;
const double stalled_for_s = ui_elapsed_s(now, stall_started);
if (ui_timestamp_anomaly(now, stall_started, "recover", stalled_phase, frame)) {
ui_stall_reported_ns.store(0, std::memory_order_relaxed);
}
LOGW("UI stall recovered after %.1fs (stalled_phase=%s current_phase=%s frame=%llu)",
stalled_for_s,
ui_stall_phase_name(stalled_phase),
@@ -147,7 +171,15 @@ void start_ui_stall_monitor() {
continue;
}
const double stalled_for_s = (now - last_progress) / 1e9;
const UIStallPhase phase = static_cast<UIStallPhase>(ui_stall_phase.load(std::memory_order_relaxed));
const uint64_t frame = ui_stall_frame.load(std::memory_order_relaxed);
if (ui_timestamp_anomaly(now, last_progress, "probe", phase, frame)) {
ui_stall_last_progress_ns.store(now, std::memory_order_relaxed);
ui_stall_reported.store(false, std::memory_order_relaxed);
continue;
}
const double stalled_for_s = ui_elapsed_s(now, last_progress);
if (stalled_for_s < stall_probe_dt) {
continue;
}
@@ -157,36 +189,40 @@ void start_ui_stall_monitor() {
continue;
}
const UIStallPhase phase = static_cast<UIStallPhase>(ui_stall_phase.load(std::memory_order_relaxed));
const uint64_t frame = ui_stall_frame.load(std::memory_order_relaxed);
ui_stall_reported_ns.store(now, std::memory_order_relaxed);
ui_stall_reported_phase.store(static_cast<int>(phase), std::memory_order_relaxed);
const std::string path = ui_stall_dump_dir() + "/qt_ui_stall_" + std::to_string(getpid()) + "_" + std::to_string(now) + ".log";
int fd = open(path.c_str(), O_CREAT | O_WRONLY | O_TRUNC | O_CLOEXEC, 0644);
if (fd >= 0) {
char header[256];
char header[384];
const int header_len = std::snprintf(header, sizeof(header),
"phase=%s frame=%llu stalled_for_s=%.3f\n",
"phase=%s frame=%llu stalled_for_s=%.3f now_ns=%llu last_progress_ns=%llu\n",
ui_stall_phase_name(phase),
static_cast<unsigned long long>(frame),
stalled_for_s);
stalled_for_s,
static_cast<unsigned long long>(now),
static_cast<unsigned long long>(last_progress));
if (header_len > 0) {
write(fd, header, header_len);
}
write_ui_thread_snapshot(fd);
close(fd);
LOGE("UI main thread stalled for %.1fs (phase=%s frame=%llu dump=%s)",
LOGE("UI main thread stalled for %.1fs (phase=%s frame=%llu now_ns=%llu last_progress_ns=%llu dump=%s)",
stalled_for_s,
ui_stall_phase_name(phase),
static_cast<unsigned long long>(frame),
static_cast<unsigned long long>(now),
static_cast<unsigned long long>(last_progress),
path.c_str());
} else {
LOGE("UI main thread stalled for %.1fs (phase=%s frame=%llu dump_open_failed errno=%d)",
LOGE("UI main thread stalled for %.1fs (phase=%s frame=%llu now_ns=%llu last_progress_ns=%llu dump_open_failed errno=%d)",
stalled_for_s,
ui_stall_phase_name(phase),
static_cast<unsigned long long>(frame),
static_cast<unsigned long long>(now),
static_cast<unsigned long long>(last_progress),
errno);
}
}