Optimus Prime

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -63,6 +63,15 @@ class RadarInterface(RadarInterfaceBase):
     self.ioniq_6_radar_probe_updates = 0
     self.rcp = get_radar_can_parser(CP, self.radar_config)
 
+    # Precompute (addr, "RADAR_TRACK_xxx") pairs once. _update runs on the
+    # CAN-driven card loop (core 4, shared with controlsd/selfdrived), so avoid
+    # rebuilding 32 f-strings per radar frame.
+    self.track_addrs: list[tuple[int, str]] = []
+    if self.radar_config is not None:
+      self.track_addrs = [(addr, f"RADAR_TRACK_{addr:x}")
+                          for addr in range(self.radar_config.start_addr,
+                                            self.radar_config.start_addr + self.radar_config.msg_count)]
+
   def update(self, can_strings):
     if self.ioniq_6_radar_probe and self.rcp is not None and not self.ioniq_6_radar_probe_logged:
       vls = self.rcp.update(can_strings)
@@ -104,10 +113,13 @@ class RadarInterface(RadarInterfaceBase):
     if self.radar_config is None:
       return ret
 
-    for addr in range(self.radar_config.start_addr, self.radar_config.start_addr + self.radar_config.msg_count):
-      msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
+    radar_type = self.radar_config.radar_type
+    vl = self.rcp.vl
 
-      if self.radar_config.radar_type == "mrr30":
+    for addr, track_name in self.track_addrs:
+      msg = vl[track_name]
+
+      if radar_type == "mrr30":
         for i in ("1", "2"):
           track_key = addr * 2 + int(i) - 1
           if track_key not in self.pts:
@@ -128,24 +140,32 @@ class RadarInterface(RadarInterfaceBase):
             del self.pts[track_key]
         continue
 
+      if radar_type == "mrr35":
+        # Most of the 32 channels are empty each frame. Only allocate a point
+        # when the channel is valid; drop it otherwise. Avoids the per-frame
+        # alloc-then-delete churn on the ~27 idle channels.
+        if msg["STATE"] in (3, 4):
+          pt = self.pts.get(addr)
+          if pt is None:
+            pt = structs.RadarData.RadarPoint()
+            pt.trackId = self.track_id
+            self.track_id += 1
+            self.pts[addr] = pt
+          pt.measured = True
+          pt.dRel = msg["LONG_DIST"]
+          pt.yRel = msg["LAT_DIST"]
+          pt.vRel = msg["REL_SPEED"]
+          pt.aRel = msg["REL_ACCEL"]
+          pt.yvRel = float("nan")
+        elif addr in self.pts:
+          del self.pts[addr]
+        continue
+
       if addr not in self.pts:
         self.pts[addr] = structs.RadarData.RadarPoint()
         self.pts[addr].trackId = self.track_id
         self.track_id += 1
 
-      if self.radar_config.radar_type == "mrr35":
-        valid = msg["STATE"] in (3, 4)
-        if valid:
-          self.pts[addr].measured = True
-          self.pts[addr].dRel = msg["LONG_DIST"]
-          self.pts[addr].yRel = msg["LAT_DIST"]
-          self.pts[addr].vRel = msg["REL_SPEED"]
-          self.pts[addr].aRel = msg["REL_ACCEL"]
-          self.pts[addr].yvRel = float("nan")
-        else:
-          del self.pts[addr]
-        continue
-
       valid = msg['STATE'] in (3, 4)
       if valid:
         azimuth = math.radians(msg['AZIMUTH'])

selfdrive/selfdrived/events.py

@@ -957,10 +957,16 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ten times the regular interval, or the average interval is more than 10% too high.
   EventName.commIssue: {
     ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"),
+    ET.PERMANENT: Alert("Communication Issue Between Processes", "",
+                        AlertStatus.normal, AlertSize.small,
+                        Priority.LOWER, VisualAlert.none, AudibleAlert.none, 1., creation_delay=30.),
     ET.NO_ENTRY: comm_issue_alert,
   },
   EventName.commIssueAvgFreq: {
     ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"),
+    ET.PERMANENT: Alert("Low Communication Rate Between Processes", "",
+                        AlertStatus.normal, AlertSize.small,
+                        Priority.LOWER, VisualAlert.none, AudibleAlert.none, 1., creation_delay=30.),
     ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
   },
 

selfdrive/ui/main.cc

@@ -1,17 +1,46 @@
 #include <sys/resource.h>
+#include <unistd.h>
 
 #include <QApplication>
 #include <QTranslator>
 
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
 
+// Qt 5.12.8's qErrnoWarning() emits QtCriticalMsg then calls abort() directly,
+// bypassing the fatal-message path. Intercept critical+fatal Wayland messages
+// before the unconditional abort() fires and clean-exit so the manager restarts
+// us quickly instead of going through the slow abort/crash-handler path.
+void waylandAwareMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
+  if (type == QtCriticalMsg || type == QtFatalMsg) {
+    QByteArray bytes = msg.toUtf8();
+    if (bytes.contains("ayland") || bytes.contains("wl_display")) {
+      swagLogMessageHandler(type, context, msg);
+      LOGE("UI WAYLAND EXIT: %s", bytes.constData());
+      _exit(0);  // clean exit; manager restarts us
+    }
+  }
+  swagLogMessageHandler(type, context, msg);
+  // Non-Wayland fatal: let Qt abort normally; crash_handler will capture it.
+}
+
 int main(int argc, char *argv[]) {
   setpriority(PRIO_PROCESS, 0, -20);
 
-  qInstallMessageHandler(swagLogMessageHandler);
+  // Pin the UI to the little cores (0-3). The realtime control loop
+  // (card/controlsd/selfdrived) runs SCHED_FIFO on core 4; without this pin the
+  // kernel can schedule the UI there, and a UI stall/restart spike preempts
+  // selfdrived, starving its 100 Hz loop and firing the "System Lagging" alert.
+  // Set before any threads spawn so children inherit the affinity.
+  if (!Hardware::PC()) {
+    util::set_core_affinity({0, 1, 2, 3});
+  }
+
+  qInstallMessageHandler(waylandAwareMessageHandler);
   initApp(argc, argv);
 
   QTranslator translator;

selfdrive/ui/qt/offroad/firehose.cc

@@ -82,7 +82,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
   // Set up the API request for firehose stats
   const QString dongle_id = QString::fromStdString(Params().get("DongleId"));
   firehose_stats = new RequestRepeater(this, CommaApi::BASE_URL + "/v1/devices/" + dongle_id + "/firehose_stats",
-                                       "ApiCache_FirehoseStats", 30, true);
+                                       "ApiCache_FirehoseStats", 30, false);
   QObject::connect(firehose_stats, &RequestRepeater::requestDone, [=](const QString &response, bool success) {
     if (success) {
       QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());

selfdrive/ui/qt/prime_state.cc

@@ -16,7 +16,7 @@ PrimeState::PrimeState(QObject* parent) : QObject(parent) {
 
   if (auto dongleId = getDongleId()) {
     QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5);
+    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 60);
     QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeState::handleReply);
   }
 

selfdrive/ui/ui.cc

@@ -391,6 +391,11 @@ void UIState::update() {
     if (!watchdog_kick(nanos_since_boot())) {
       LOGE("UI watchdog kick failed at frame %llu", static_cast<unsigned long long>(sm->frame));
     }
+    // Re-pin to the little cores: power-save can offline our core and the
+    // kernel may rebalance us onto core 4 (the realtime control loop).
+    if (!Hardware::PC()) {
+      util::set_core_affinity({0, 1, 2, 3});
+    }
   }
   ui_stall_progress(UIStallPhase::AFTER_WATCHDOG, sm->frame);
   emit uiUpdate(*this, *starpilotUIState());

starpilot/ui/starpilot_ui.cc

@@ -40,21 +40,26 @@ static void update_state(StarPilotUIState *fs) {
     }
     capnp::Text::Reader toggles = starpilotPlan.getStarpilotToggles();
     QByteArray current_toggles(toggles.cStr(), toggles.size());
-    static QByteArray previous_toggles;
-    if (previous_toggles != current_toggles) {
-      QJsonParseError parse_error;
-      QJsonDocument toggles_doc = QJsonDocument::fromJson(current_toggles, &parse_error);
-      if (parse_error.error == QJsonParseError::NoError && toggles_doc.isObject()) {
-        QJsonObject updated_toggles = starpilot_scene.starpilot_toggles;
-        const QJsonObject parsed_toggles = toggles_doc.object();
-        for (auto it = parsed_toggles.begin(); it != parsed_toggles.end(); ++it) {
-          updated_toggles.insert(it.key(), it.value());
+    // starpilot_process only broadcasts the full toggles JSON periodically and
+    // sends an empty string on every other frame. Skip the empty broadcasts so
+    // we don't parse "" (QJsonParseError "illegal value") every frame.
+    if (!current_toggles.trimmed().isEmpty()) {
+      static QByteArray previous_toggles;
+      if (previous_toggles != current_toggles) {
+        QJsonParseError parse_error;
+        QJsonDocument toggles_doc = QJsonDocument::fromJson(current_toggles, &parse_error);
+        if (parse_error.error == QJsonParseError::NoError && toggles_doc.isObject()) {
+          QJsonObject updated_toggles = starpilot_scene.starpilot_toggles;
+          const QJsonObject parsed_toggles = toggles_doc.object();
+          for (auto it = parsed_toggles.begin(); it != parsed_toggles.end(); ++it) {
+            updated_toggles.insert(it.key(), it.value());
+          }
+          starpilot_scene.starpilot_toggles = updated_toggles;
+        } else {
+          qWarning() << "Ignoring invalid StarPilot toggles JSON:" << parse_error.errorString();
         }
-        starpilot_scene.starpilot_toggles = updated_toggles;
-      } else {
-        qWarning() << "Ignoring invalid StarPilot toggles JSON:" << parse_error.errorString();
+        previous_toggles = current_toggles;
       }
-      previous_toggles = current_toggles;
     }
   }
 

system/manager/process_config.py

@@ -10,7 +10,7 @@ from openpilot.system.hardware import HARDWARE, PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
-UI_WATCHDOG_MAX_DT = int(os.getenv("UI_WATCHDOG_MAX_DT", "5"))
+UI_WATCHDOG_MAX_DT = int(os.getenv("UI_WATCHDOG_MAX_DT", "10"))
 
 def driverview(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
   return started or params.get_bool("IsDriverViewEnabled")

system/qcomgpsd/qcomgpsd.py

@@ -122,9 +122,13 @@ def downloader_loop(event):
   if alt_path is not None and os.path.exists(alt_path):
     shutil.copyfile(alt_path, ASSIST_DATA_FILE)
 
+  sm = messaging.SubMaster(['deviceState'])
+
   try:
     while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
-      download_assistance()
+      sm.update(0)
+      if sm['deviceState'].networkType != log.DeviceState.NetworkType.none:
+        download_assistance()
       event.wait(timeout=10)
   except KeyboardInterrupt:
     pass