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https://github.com/firestar5683/StarPilot.git
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firestar5683
96 lines
3.1 KiB
Python
96 lines
3.1 KiB
Python
#!/usr/bin/env python3
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import os
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import time
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from openpilot.system.hardware import TICI
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from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
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from openpilot.common.watchdog import kick_watchdog
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.selfdrive.ui.stall_monitor import UIStallMonitor
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from openpilot.selfdrive.ui.ui_state import ui_state
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BIG_UI = gui_app.big_ui()
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def _stall_context() -> dict[str, object]:
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active_widget = gui_app.get_active_widget()
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context = {
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"ui_mode": "big" if BIG_UI else "small",
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"started": ui_state.started,
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"ignition": ui_state.ignition,
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"engaged": ui_state.engaged,
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"render_frame": gui_app.frame,
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"ui_state_frame": ui_state.sm.frame,
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"target_fps": gui_app.target_fps,
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"active_widget": type(active_widget).__name__ if active_widget is not None else "none",
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}
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try:
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device_state = ui_state.sm["deviceState"]
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context.update({
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"device_state_valid": bool(ui_state.sm.valid["deviceState"]),
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"memory_usage_percent": int(device_state.memoryUsagePercent),
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"gpu_usage_percent": int(device_state.gpuUsagePercent),
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"max_cpu_usage_percent": max((int(value) for value in device_state.cpuUsagePercent), default=0),
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"max_cpu_temp_c": round(max((float(value) for value in device_state.cpuTempC), default=0.0), 1),
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"max_gpu_temp_c": round(max((float(value) for value in device_state.gpuTempC), default=0.0), 1),
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"thermal_status": str(device_state.thermalStatus),
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})
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except Exception:
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pass
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return context
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def main():
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cores = {5, }
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config_realtime_process(0, Priority.UI)
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stall_monitor = UIStallMonitor("raylib_ui")
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stall_monitor.progress("ui.before_init_window")
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stall_monitor.start()
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try:
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gui_app.init_window("UI")
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stall_monitor.progress("ui.after_init_window")
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gui_app.set_progress_hook(stall_monitor.progress)
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kick_watchdog()
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stall_monitor.progress("ui.before_layout_init")
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if BIG_UI:
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from openpilot.selfdrive.ui.layouts.main import MainLayout
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MainLayout()
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else:
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from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
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MiciMainLayout()
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stall_monitor.progress("ui.after_layout_init")
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stall_monitor.set_context(_stall_context())
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kick_watchdog()
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stall_monitor.progress("ui.loop_ready")
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context_update_time = 0.0
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for should_render in gui_app.render():
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stall_monitor.progress("ui.loop_iteration")
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kick_watchdog()
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stall_monitor.progress("ui.after_watchdog")
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ui_state.update(progress_hook=stall_monitor.progress)
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stall_monitor.progress("ui.after_state_update")
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now = time.monotonic()
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if now - context_update_time >= 1.0:
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stall_monitor.set_context(_stall_context())
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context_update_time = now
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if should_render:
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# reaffine after power save offlines our core
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if TICI 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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stall_monitor.progress("ui.loop_idle")
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finally:
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gui_app.set_progress_hook(None)
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stall_monitor.stop()
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if __name__ == "__main__":
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main()
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