From 126ea769f8ca65dadcb1145e73478624f3050d19 Mon Sep 17 00:00:00 2001 From: royjr Date: Sat, 22 Aug 2026 16:33:25 -0400 Subject: [PATCH] cleanup --- openpilot/selfdrive/modeld/load_progress.py | 17 ++++++++--------- .../selfdrive/ui/mici/onroad/hud_renderer.py | 15 +-------------- openpilot/selfdrive/ui/ui_state.py | 2 -- 3 files changed, 9 insertions(+), 25 deletions(-) diff --git a/openpilot/selfdrive/modeld/load_progress.py b/openpilot/selfdrive/modeld/load_progress.py index d71c614b81..8c861f38ea 100644 --- a/openpilot/selfdrive/modeld/load_progress.py +++ b/openpilot/selfdrive/modeld/load_progress.py @@ -2,15 +2,16 @@ import os from openpilot.common.file_chunker import open_file_chunked, get_existing_chunks from openpilot.common.params import Params +PARAM = "UsbGpuLoadProgress" + class ProgressReader: - # wraps a chunked stream, writes byte-read % to a param (throttled to whole percent) - def __init__(self, inner, total, param): - self._inner, self._total, self._param = inner, total, param + def __init__(self, inner, total): + self._inner = inner + self._total = total self._params = Params() self._read = 0 self._pct = -1 - # sub-read size ~ 1% of total, so big weight buffers advance the % smoothly (not in jumps) self._step = max(64 * 1024, total // 100) def _bump(self, n): @@ -19,7 +20,7 @@ class ProgressReader: pct = min(100, self._read * 100 // self._total) if pct != self._pct: self._pct = pct - self._params.put(self._param, pct) + self._params.put(PARAM, pct) def read(self, size=-1): data = self._inner.read(size) @@ -27,7 +28,6 @@ class ProgressReader: return data def readinto(self, b): - # sub-chunk big buffers so the % advances smoothly instead of jumping per weight view = memoryview(b) done = 0 while done < len(view): @@ -39,7 +39,6 @@ class ProgressReader: return done -def open_with_progress(pkl_path, param="UsbGpuLoadProgress"): - # chunked reader that reports load progress to `param` +def open_with_progress(pkl_path): total = sum(os.path.getsize(p) for p in get_existing_chunks(pkl_path)) - return ProgressReader(open_file_chunked(pkl_path), total, param) + return ProgressReader(open_file_chunked(pkl_path), total) diff --git a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py index c236ec03c7..a98e1c8988 100644 --- a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py @@ -108,7 +108,6 @@ class HudRenderer(Widget): self.v_ego_cluster_seen: bool = False self._engaged: bool = False self._small_model_engaged: bool = False - self._egpu_fade_time: float = 0 self._can_draw_top_icons = True self._show_wheel_critical = False @@ -128,13 +127,11 @@ class HudRenderer(Widget): self._txt_egpu_green: rl.Texture = gui_app.texture('icons_mici/egpu_green.png', 60, 44) self._txt_egpu_orange: rl.Texture = gui_app.texture('icons_mici/egpu_orange.png', 60, 44) self._txt_egpu_crossed: rl.Texture = gui_app.texture('icons_mici/egpu_crossed.png', 60, 52) - self._egpu_icon: rl.Texture | None = None self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps) self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) - self._egpu_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) def set_wheel_critical_icon(self, critical: bool): """Set the wheel icon to critical or normal state.""" @@ -168,8 +165,6 @@ class HudRenderer(Widget): if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame): self._small_model_engaged = True - if engaged != self._engaged: - self._egpu_fade_time = rl.get_time() if engaged else 0 if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged): self._set_speed_changed_time = rl.get_time() self._engaged = engaged @@ -220,17 +215,9 @@ class HudRenderer(Widget): icon = self._txt_egpu_green opacity = 1.0 - if icon is not self._egpu_icon: - self._egpu_fade_time = rl.get_time() - self._egpu_icon = icon - # alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE) - # if alpha < 1e-2: - # return - alpha = 1.0 - pos = rl.Vector2(rect.x + rect.width - 10 - icon.width, rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2) - rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity * alpha))) + rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity))) if loading: pct_text = f"{ui_state.usbgpu_load_progress}%" diff --git a/openpilot/selfdrive/ui/ui_state.py b/openpilot/selfdrive/ui/ui_state.py index c8ffb807fe..425ebcad5c 100644 --- a/openpilot/selfdrive/ui/ui_state.py +++ b/openpilot/selfdrive/ui/ui_state.py @@ -165,7 +165,6 @@ class UIState(UIStateSP): # Update started state self.started = self.sm["deviceState"].started and self.ignition - # Poll gpu load progress per-frame (not 5Hz) so the % counter updates smoothly if self.usbgpu_loading: self.usbgpu_load_progress = self.params.get("UsbGpuLoadProgress", return_default=True) @@ -227,7 +226,6 @@ class UIState(UIStateSP): self.usbgpu_compiled = usbgpu_compiled() self.usbgpu_active = self.params.get("UsbGpuActive") self.usbgpu_loading = self.params.get_bool("UsbGpuLoading") - self.usbgpu_load_progress = self.params.get("UsbGpuLoadProgress", return_default=True) UIStateSP.update_params(self)