ui: add burn in debug mode (#36625)

* ui: add burn in debug mode

* scary

* lil less

* lil cleanup

* revert that

* cleanup

system/ui/README.md

@@ -6,6 +6,7 @@ Quick start:
 * set `SHOW_FPS=1` to show the FPS
 * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps
 * set `SCALE=1.5` to scale the entire UI by 1.5x
+* set `BURN_IN=1` to get a burn-in heatmap version of the UI
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
 

system/ui/lib/application.py

@@ -6,6 +6,7 @@ import signal
 import sys
 import pyray as rl
 import threading
+import platform
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
@@ -34,6 +35,43 @@ SCALE = float(os.getenv("SCALE", "1.0"))
 PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
 PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
 
+GL_VERSION = """
+#version 300 es
+precision highp float;
+"""
+if platform.system() == "Darwin":
+  GL_VERSION = """
+    #version 330 core
+  """
+
+BURN_IN_MODE = "BURN_IN" in os.environ
+BURN_IN_VERTEX_SHADER = GL_VERSION + """
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+uniform mat4 mvp;
+out vec2 fragTexCoord;
+void main() {
+  fragTexCoord = vertexTexCoord;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+BURN_IN_FRAGMENT_SHADER = GL_VERSION + """
+in vec2 fragTexCoord;
+uniform sampler2D texture0;
+out vec4 fragColor;
+void main() {
+  vec4 sampled = texture(texture0, fragTexCoord);
+  float intensity = sampled.b;
+  // Map blue intensity to green -> yellow -> red to highlight burn-in risk.
+  vec3 start = vec3(0.0, 1.0, 0.0);
+  vec3 middle = vec3(1.0, 1.0, 0.0);
+  vec3 end = vec3(1.0, 0.0, 0.0);
+  vec3 gradient = mix(start, middle, clamp(intensity * 2.0, 0.0, 1.0));
+  gradient = mix(gradient, end, clamp((intensity - 0.5) * 2.0, 0.0, 1.0));
+  fragColor = vec4(gradient, sampled.a);
+}
+"""
+
 DEFAULT_TEXT_SIZE = 60
 DEFAULT_TEXT_COLOR = rl.WHITE
 
@@ -155,6 +193,7 @@ class GuiApplication:
     self._scaled_width = int(self._width * self._scale)
     self._scaled_height = int(self._height * self._scale)
     self._render_texture: rl.RenderTexture | None = None
+    self._burn_in_shader: rl.Shader | None = None
     self._textures: dict[str, rl.Texture] = {}
     self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
@@ -212,8 +251,10 @@ class GuiApplication:
       rl.set_config_flags(flags)
 
       rl.init_window(self._scaled_width, self._scaled_height, title)
+      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
+      if needs_render_texture:
         self._render_texture = rl.load_render_texture(self._width, self._height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
       rl.set_target_fps(fps)
@@ -222,6 +263,8 @@ class GuiApplication:
       self._set_styles()
       self._load_fonts()
       self._patch_text_functions()
+      if BURN_IN_MODE and self._burn_in_shader is None:
+        self._burn_in_shader = rl.load_shader_from_memory(BURN_IN_VERTEX_SHADER, BURN_IN_FRAGMENT_SHADER)
 
       if not PC:
         self._mouse.start()
@@ -337,6 +380,10 @@ class GuiApplication:
       rl.unload_render_texture(self._render_texture)
       self._render_texture = None
 
+    if self._burn_in_shader:
+      rl.unload_shader(self._burn_in_shader)
+      self._burn_in_shader = None
+
     if not PC:
       self._mouse.stop()
 
@@ -395,7 +442,14 @@ class GuiApplication:
           rl.clear_background(rl.BLACK)
           src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
           dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
-          rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+          texture = self._render_texture.texture
+          if texture:
+            if BURN_IN_MODE and self._burn_in_shader:
+              rl.begin_shader_mode(self._burn_in_shader)
+              rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+              rl.end_shader_mode()
+            else:
+              rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
 
         if self._show_fps:
           rl.draw_fps(10, 10)

system/ui/lib/shader_polygon.py

@@ -1,9 +1,8 @@
-import platform
 import pyray as rl
 import numpy as np
 from dataclasses import dataclass
 from typing import Any, Optional, cast
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, GL_VERSION
 
 MAX_GRADIENT_COLORS = 20  # includes stops as well
 
@@ -29,16 +28,7 @@ class Gradient:
       self.stops = [i / max(1, color_count - 1) for i in range(color_count)]
 
 
-VERSION = """
-#version 300 es
-precision highp float;
-"""
-if platform.system() == "Darwin":
-  VERSION = """
-    #version 330 core
-  """
-
-FRAGMENT_SHADER = VERSION + """
+FRAGMENT_SHADER = GL_VERSION + """
 in vec2 fragTexCoord;
 out vec4 finalColor;
 
@@ -83,7 +73,7 @@ void main() {
 """
 
 # Default vertex shader
-VERTEX_SHADER = VERSION + """
+VERTEX_SHADER = GL_VERSION + """
 in vec3 vertexPosition;
 in vec2 vertexTexCoord;
 out vec2 fragTexCoord;