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ui: param thread (#38029)

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* ui param thread

* 5hz

* later

* rename

* temp

* clean up

* no ui mutate from thread

* cmt
This commit is contained in:
Shane Smiskol
2026-05-12 21:24:12 -07:00
committed by GitHub
parent b3ed39525d
commit a06f31b472
1 changed files with 20 additions and 16 deletions
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selfdrive/ui/ui_state.py
+20 -16
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@@ -13,7 +13,7 @@ from openpilot.system.ui.lib.application import gui_app
from openpilot.system.hardware import HARDWARE, PC
BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
PARAM_UPDATE_TIME = 5.0
PARAM_UPDATE_TIME = 1 / 5.0
class UIStatus(Enum):
@@ -83,7 +83,8 @@ class UIState:
self.is_body: bool | None = None
self.CP: car.CarParams | None = None
self.light_sensor: float = -1.0
self._param_update_time: float = -PARAM_UPDATE_TIME
self._params_thread: threading.Thread | None = None
# Callbacks
self._offroad_transition_callbacks: list[Callable[[], None]] = []
@@ -111,13 +112,20 @@ class UIState:
def update(self) -> None:
self.prime_state.start() # start thread after manager forks ui
if self._params_thread is None:
self._params_thread = threading.Thread(target=self._params_refresh_worker, daemon=True)
self._params_thread.start()
self.sm.update(0)
self._update_state()
self._update_status()
if time.monotonic() - self._param_update_time >= PARAM_UPDATE_TIME:
self.update_params()
device.update()
def _params_refresh_worker(self):
while True:
self.update_params()
time.sleep(PARAM_UPDATE_TIME)
def _update_state(self) -> None:
# Handle panda states updates
if self.sm.updated["pandaStates"]:
@@ -142,11 +150,11 @@ class UIState:
# Update started state
self.started = self.sm["deviceState"].started and self.ignition
# Update recording audio state
self.recording_audio = self.params.get_bool("RecordAudio") and self.started
self.is_metric = self.params.get_bool("IsMetric")
self.always_on_dm = self.params.get_bool("AlwaysOnDM")
# Update body state
if self.CP is not None and self.is_body != self.CP.notCar:
self.is_body = self.CP.notCar
for callback in self._on_body_changed_callbacks:
callback()
def _update_status(self) -> None:
if self.started and self.sm.updated["selfdriveState"]:
@@ -187,15 +195,11 @@ class UIState:
else:
self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
if self.is_body != self.CP.notCar:
self.is_body = self.CP.notCar
for callback in self._on_body_changed_callbacks:
callback()
self.recording_audio = self.params.get_bool("RecordAudio") and self.started
self.is_metric = self.params.get_bool("IsMetric")
self.always_on_dm = self.params.get_bool("AlwaysOnDM")
self.experimental_mode = self.params.get_bool("ExperimentalMode")
self._param_update_time = time.monotonic()
class Device:
def __init__(self):