UI

selfdrive/ui/ui.py

@@ -1,55 +1,35 @@
 #!/usr/bin/env python3
 import os
-import pyray as rl
 
 from openpilot.system.hardware import TICI
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
-from openpilot.common.watchdog import kick_watchdog
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.selfdrive.ui.stall_monitor import UIStallMonitor
-from openpilot.selfdrive.ui.layouts.main import MainLayout
-from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 
+BIG_UI = gui_app.big_ui()
+
 
 def main():
   cores = {5, }
   config_realtime_process(0, 51)
 
   gui_app.init_window("UI")
-  if gui_app.big_ui():
-    main_layout = MainLayout()
+  if BIG_UI:
+    from openpilot.selfdrive.ui.layouts.main import MainLayout
+    MainLayout()
   else:
-    main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-  stall_monitor = UIStallMonitor("raylib_ui")
-  gui_app.set_progress_hook(stall_monitor.progress)
-  stall_monitor.progress("ui.loop_ready")
-  stall_monitor.start()
+    from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+    MiciMainLayout()
 
-  def render_layout() -> None:
-    stall_monitor.progress("ui.before_layout_render")
-    main_layout.render()
-    stall_monitor.progress("ui.after_layout_render")
-
-  try:
-    for should_render in gui_app.render(render_callback=render_layout):
-      stall_monitor.progress("ui.loop_iteration")
-      kick_watchdog()
-      stall_monitor.progress("ui.after_watchdog")
-      ui_state.update()
-      stall_monitor.progress("ui.after_state_update")
-      if should_render:
-        # reaffine after power save offlines our core
-        if TICI and os.sched_getaffinity(0) != cores:
-          try:
-            set_core_affinity(list(cores))
-          except OSError:
-            pass
-      stall_monitor.progress("ui.loop_idle")
-  finally:
-    gui_app.set_progress_hook(None)
-    stall_monitor.stop()
+  for should_render in gui_app.render():
+    ui_state.update()
+    if should_render:
+      # reaffine after power save offlines our core
+      if TICI and os.sched_getaffinity(0) != cores:
+        try:
+          set_core_affinity(list(cores))
+        except OSError:
+          pass
 
 
 if __name__ == "__main__":