move to sp

openpilot/common/params_keys.h

@@ -132,7 +132,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"UsbGpuLoadProgress", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
@@ -286,4 +285,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
     {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
+    {"UsbGpuLoadProgress", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, INT, "0"}},
 };

openpilot/selfdrive/modeld/modeld.py

@@ -29,11 +29,11 @@ from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import open_file_chunked
-from openpilot.selfdrive.modeld.load_progress import open_with_progress
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld_v2.load_progress import open_with_progress
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
@@ -224,7 +224,6 @@ def main(demo=False):
     os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
   params = Params()
   params.put_bool("UsbGpuLoading", USBGPU)
-  params.put("UsbGpuLoadProgress", 0)
   params.remove("UsbGpuActive")
 
   config_realtime_process(7, 54)

openpilot/selfdrive/ui/mici/onroad/hud_renderer.py

@@ -223,7 +223,7 @@ class HudRenderer(Widget):
     if icon is not self._egpu_icon:
       self._egpu_fade_time = rl.get_time()
       self._egpu_icon = icon
-    alpha = self._egpu_alpha_filter.update(True)
+    alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
     if alpha < 1e-2:
       return
 
@@ -231,18 +231,6 @@ class HudRenderer(Widget):
                      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)))
 
-    if loading:
-      pct_text = f"{ui_state.usbgpu_load_progress}%"
-      size = FONT_SIZES.max_speed
-      cell = measure_text_cached(self._font_bold, "0", size)
-      widths = [cell.x if c.isdigit() else measure_text_cached(self._font_bold, c, size).x for c in pct_text]
-      x = pos.x - 8 - sum(widths)
-      y = pos.y + (icon.height - cell.y) / 2
-      for c, w in zip(pct_text, widths, strict=True):
-        glyph = measure_text_cached(self._font_bold, c, size).x
-        rl.draw_text_ex(self._font_bold, c, rl.Vector2(x + (w - glyph) / 2, y), size, 0, rl.WHITE)
-        x += w
-
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 

openpilot/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py

@@ -6,8 +6,10 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 
-from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer, FONT_SIZES, SET_SPEED_PERSISTENCE
 from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
 class HudRendererSP(HudRenderer):
@@ -23,6 +25,28 @@ class HudRendererSP(HudRenderer):
     super()._render(rect)
     self.blind_spot_indicators.render(rect)
 
+  def _draw_model_source(self, rect: rl.Rectangle) -> None:
+    self._egpu_fade_time = rl.get_time() - SET_SPEED_PERSISTENCE / 2
+    super()._draw_model_source(rect)
+
+    if not ui_state.usbgpu_loading or ui_state.sm.recv_frame['selfdriveState'] < ui_state.started_frame:
+      return
+
+    icon = self._txt_egpu
+    pos = rl.Vector2(rect.x + rect.width - 10 - icon.width,
+                     rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2)
+
+    pct_text = f"{ui_state.usbgpu_load_progress}%"
+    size = FONT_SIZES.max_speed
+    cell = measure_text_cached(self._font_bold, "0", size)
+    widths = [cell.x if c.isdigit() else measure_text_cached(self._font_bold, c, size).x for c in pct_text]
+    x = pos.x - 8 - sum(widths)
+    y = pos.y + (icon.height - cell.y) / 2
+    for c, w in zip(pct_text, widths):
+      glyph = measure_text_cached(self._font_bold, c, size).x
+      rl.draw_text_ex(self._font_bold, c, rl.Vector2(x + (w - glyph) / 2, y), size, 0, rl.WHITE)
+      x += w
+
   def _has_blind_spot_detected(self) -> bool:
 
     return self.blind_spot_indicators.detected

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -42,6 +42,8 @@ class UIStateSP:
     self.screensaver = ScreenSaverSP(params=self.params)
     self.screensaver_enabled: bool = False
 
+    self.usbgpu_load_progress: int = self.params.get("UsbGpuLoadProgress", return_default=True)
+
     self.active_bundle = None
     self.blindspot: bool = False
     self.chevron_metrics = None
@@ -175,6 +177,8 @@ class UIStateSP:
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
     self.always_offroad = self.params.get_bool("OffroadMode")
     self.screensaver_enabled = self.params.get_bool("ScreenSaverEnabled")
+    if self.usbgpu_loading:
+      self.usbgpu_load_progress = self.params.get("UsbGpuLoadProgress", return_default=True)
 
     if not self._sp_initialized:
       self._sp_initialized = True

openpilot/selfdrive/ui/ui_state.py

@@ -86,7 +86,6 @@ class UIState(UIStateSP):
     self.usbgpu_compiled: bool = usbgpu_compiled()
     self.usbgpu_active: bool | None = self.params.get("UsbGpuActive")
     self.usbgpu_loading: bool = self.params.get_bool("UsbGpuLoading")
-    self.usbgpu_load_progress: int = self.params.get("UsbGpuLoadProgress", return_default=True)
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
@@ -165,9 +164,6 @@ class UIState(UIStateSP):
     # Update started state
     self.started = self.sm["deviceState"].started and self.ignition
 
-    if self.usbgpu_loading:
-      self.usbgpu_load_progress = self.params.get("UsbGpuLoadProgress", return_default=True)
-
     # Update body state
     if self.CP is not None and self.is_body != self.CP.notCar:
       self.is_body = self.CP.notCar

openpilot/sunnypilot/modeld_v2/load_progress.py

@@ -1,5 +1,5 @@
 import os
-from openpilot.common.file_chunker import open_file_chunked, get_existing_chunks
+from openpilot.common.file_chunker import open_file_chunked, get_existing_chunks, get_manifest_path
 from openpilot.common.params import Params
 
 PARAM = "UsbGpuLoadProgress"
@@ -40,5 +40,6 @@ class ProgressReader:
 
 
 def open_with_progress(pkl_path):
-  total = sum(os.path.getsize(p) for p in get_existing_chunks(pkl_path))
+  manifest = get_manifest_path(pkl_path)
+  total = sum(os.path.getsize(p) for p in get_existing_chunks(pkl_path) if p != manifest)
   return ProgressReader(open_file_chunked(pkl_path), total)

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -25,7 +25,7 @@ from opendbc.car.car_helpers import get_demo_car_params
 from tinygrad.tensor import Tensor
 
 from openpilot.common.file_chunker import open_file_chunked
-from openpilot.selfdrive.modeld.load_progress import open_with_progress
+from openpilot.sunnypilot.modeld_v2.load_progress import open_with_progress
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter