the

openpilot/cereal/log.capnp

@@ -132,6 +132,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     userBookmark @95;
     excessiveActuation @96;
     audioFeedback @97;
+    wgpuModeldLagging @100;
 
     soundsUnavailableDEPRECATED @47;
   }

openpilot/common/params_keys.h

@@ -134,6 +134,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
+    {"WgpuBenchMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON | DEVELOPMENT_ONLY, BOOL}},
     {"WgpuEnabled", {CLEAR_ON_MANAGER_START | DEVELOPMENT_ONLY, BOOL}},
 
     // --- sunnypilot params --- //

openpilot/selfdrive/selfdrived/events.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import os
+import time
 
 from openpilot.cereal import log
 from opendbc.car.structs import car
@@ -190,6 +191,13 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
 
+def wgpu_modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool,
+                              soft_disable_time: int, personality) -> Alert:
+  model_age_ms = max(0., (time.monotonic_ns() - sm['modelV2'].timestampEof) / 1e6)
+  return NormalPermanentAlert("WGPU Model Lagging",
+                              f"{model_age_ms:.0f} ms old · {sm['modelV2'].frameDropPerc:.1f}% frames dropped")
+
+
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
   steer = sm['carControl'].actuators.torque
@@ -722,6 +730,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Driving Model Lagging"),
     ET.PERMANENT: modeld_lagging_alert,
   },
+  EventName.wgpuModeldLagging: {
+    ET.PERMANENT: wgpu_modeld_lagging_alert,
+  },
 
   # Besides predicting the path, lane lines and lead car data the model also
   # predicts the current velocity and rotation speed of the car. If the model is

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -111,6 +111,8 @@ class SelfdriveD(CruiseHelper):
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.wgpu_enabled = self.params.get_bool("WgpuEnabled")
+    self.wgpu_bench_mode = self.params.get_bool("WgpuBenchMode")
 
     car_recognized = self.CP.brand != 'mock'
 
@@ -469,7 +471,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
       if self.sm['modelV2'].frameDropPerc > 1:
-        self.events.add(EventName.modeldLagging)
+        self.events.add(EventName.wgpuModeldLagging if self.wgpu_enabled and self.wgpu_bench_mode else EventName.modeldLagging)
 
     # mute canBusMissing event if in Park, as it sometimes may trigger a false alarm with MADS in Paused state
     if CS.gearShifter == car.CarState.GearShifter.park and self.mads.enabled:
@@ -625,6 +627,8 @@ class SelfdriveD(CruiseHelper):
       self.is_metric = self.params.get_bool("IsMetric")
       self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
       self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+      self.wgpu_enabled = self.params.get_bool("WgpuEnabled")
+      self.wgpu_bench_mode = self.params.get_bool("WgpuBenchMode")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.params.get("LongitudinalPersonality", return_default=True)
 

openpilot/tools/wgpu/README.md

@@ -57,3 +57,20 @@ Add `--big-model` after `COMMA_IP` to use the locally compiled big model.
 
 The first remote `carParams` packet can take up to 50 seconds. Stop either side
 with Ctrl+C. Stop the device helper before changing branches or rebooting.
+
+For stationary bench testing only, model lag can be changed from a blocking
+event to a live warning showing model age and dropped frames. After ignition is
+on and manager is running, enable the temporary override on the device:
+
+```sh
+cd /data/openpilot
+python3 -c 'from openpilot.common.params import Params; Params().put_bool("WgpuBenchMode", True)'
+```
+
+The override requires `WgpuEnabled` and clears on manager restart or the next
+ignition-on transition. Disable it immediately with:
+
+```sh
+cd /data/openpilot
+python3 -c 'from openpilot.common.params import Params; Params().remove("WgpuBenchMode")'
+```