mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
95 lines
4.2 KiB
Python
Executable File
95 lines
4.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import sys
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from openpilot.cereal import messaging
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from openpilot.common.hardware import COMMA_HARDWARE, HARDWARE
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from openpilot.common.realtime import Priority, config_realtime_process, drop_realtime, set_core_affinity
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.selfdrive.ui.layouts.main import MainLayout
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from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
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from openpilot.selfdrive.ui.ui_state import ui_state
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from openpilot.starpilot.ui.presentation import Profile
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from openpilot.starpilot.ui.startup import select_ui
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BIG_UI = gui_app.big_ui()
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def update_frame(preview=None, controllers=None):
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gui_app.measure_frame_phase("ui_state", ui_state.update)
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if controllers is not None:
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gui_app.measure_frame_phase("controllers", controllers.poll)
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if preview is not None:
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preview.poll()
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def main():
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camera_core_ui = COMMA_HARDWARE and HARDWARE.get_device_type() in ("mici", "tici", "tizi")
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cores = {6} if camera_core_ui else {5}
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main_thread_configured = False
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config_realtime_process(0, Priority.UI)
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selection = select_ui(Profile.LARGE if BIG_UI else Profile.COMPACT, os.environ)
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print(f"UI: {'StarPilot' if selection.custom else 'upstream'} selected ({selection.reason})", file=sys.stderr, flush=True)
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star_ui = selection.custom
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gui_app.init_window("UI")
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if star_ui:
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from openpilot.starpilot.ui.runtime_app import StarMainLayout, StarMiciMainLayout
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from openpilot.starpilot.ui.layout_preview_runtime import LayoutPreviewRuntime
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layout = StarMainLayout() if BIG_UI else StarMiciMainLayout()
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from openpilot.starpilot.controllers.runtime import ControllerRuntime
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from openpilot.starpilot.galaxy.settings import LiveContextSource
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# Both runtimes read the UI collector; neither advances or closes its sockets.
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controller_authority = LiveContextSource(ui_state.params, messages=ui_state.sm,
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borrowed_messages=True, evidence_wait_ms=0)
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preview_authority = LiveContextSource(ui_state.params, messages=ui_state.sm,
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borrowed_messages=True, evidence_wait_ms=0)
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controllers = None if ui_state.replay_clock is not None else ControllerRuntime(ui_state.params, actions=layout.star._favorite_actions,
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favorites=layout.star.favorites_owner.snapshot,
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invoke_favorite=layout.star.favorites_owner.invoke, authority=controller_authority)
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preview = None if ui_state.replay_clock is not None else LayoutPreviewRuntime(ui_state.params, (Profile.LARGE if BIG_UI else Profile.COMPACT).value,
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offroad_hint=ui_state.is_offroad, authority=preview_authority)
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else:
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layout = MainLayout() if BIG_UI else MiciMainLayout()
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preview = None
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controllers = None
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pm = messaging.PubMaster(['uiDebug'])
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try:
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for should_render, frame_time, cpu_time in gui_app.render(before_frame=lambda: update_frame(preview, controllers)):
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if should_render:
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if camera_core_ui and not main_thread_configured:
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# Share the camera core with normal scheduling, without FIFO display
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# work preempting camera work or waiting on the driving core.
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drop_realtime()
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os.setpriority(os.PRIO_PROCESS, 0, 0)
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if os.sched_getscheduler(0) != os.SCHED_OTHER or os.getpriority(os.PRIO_PROCESS, 0) != 0:
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raise RuntimeError("Could not configure display scheduling")
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main_thread_configured = True
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# reaffine after power save offlines our core
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if COMMA_HARDWARE and os.sched_getaffinity(0) != cores:
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try:
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set_core_affinity(list(cores))
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except OSError:
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pass
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msg = messaging.new_message('uiDebug')
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msg.uiDebug.cpuTimeMillis = cpu_time * 1000
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msg.uiDebug.frameTimeMillis = frame_time * 1000
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pm.send('uiDebug', msg)
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finally:
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if star_ui:
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try:
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if preview is not None:
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preview.close()
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finally:
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try:
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if controllers is not None:
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controllers.close()
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finally:
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layout.close()
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if __name__ == "__main__":
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main()
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