firestar5683
58 lines
1.8 KiB
Python
Executable File
58 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import pyray as rl
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from openpilot.system.hardware import TICI
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from openpilot.common.realtime import 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.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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def main():
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cores = {5, }
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config_realtime_process(0, 51)
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gui_app.init_window("UI")
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render_in_gui_app = not gui_app.big_ui()
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if gui_app.big_ui():
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main_layout = MainLayout()
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else:
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main_layout = MiciMainLayout()
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main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
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stall_monitor = UIStallMonitor("raylib_ui")
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gui_app.set_progress_hook(stall_monitor.progress)
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stall_monitor.progress("ui.loop_ready")
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stall_monitor.start()
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def render_layout() -> None:
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stall_monitor.progress("ui.before_layout_render")
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main_layout.render()
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stall_monitor.progress("ui.after_layout_render")
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try:
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for should_render in gui_app.render(render_callback=render_layout if render_in_gui_app else None):
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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()
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stall_monitor.progress("ui.after_state_update")
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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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