process_replay/migration: drop transitive dep on long_mpc/acados
migrate_longitudinalPlan only needs get_accel_from_plan + CONTROL_N_T_IDX,
both available from drive_helpers + ModelConstants directly. Importing
from longitudinal_planner instead pulled in long_mpc -> libacados.so as
an eager side-effect, which downstream log-migration consumers (e.g.
commaai/xx pipeline) shouldn't pay for.
* speedup slowest
* less setup
* rm som reset logging
* simpliy a lil more
* lil more
* down to 36s
* sleeeeeeep
* finishing touches
* oopsie
* ty fix
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Co-authored-by: Comma Device <device@comma.ai>
* filter lead prob
* rename
* try correcting model bias
* Revert "try correcting model bias"
This reverts commit b5e9b7147e58f200ca2e02ccea8adf88be99e206.
* fast gain slow lose
* cmt
* deb
* rename
* rename
* end
ui: nonblocking writes for ExperimentalMode + DriverView toggles + cycle-restart
All four put calls fire from the main render thread on user interaction
and block on disk fsync, causing visible UI frame spikes.
Each consumer is safe under nonblocking:
- onboarding inactivity_callback: write-and-forget (~25 ms saved)
- home long-press exp toggle: ui_state.experimental_mode owns visual state (~10 ms)
- onroad exp_button: $held_mode + selfdriveState owns visual state
- restart_needed_callback (OnroadCycleRequested): cross-process signal,
consumer is selfdrived which polls the param
BigParamControl-driven toggles in settings (developer.py, toggles.py)
are intentionally left blocking — those widgets refresh visual state
from disk every frame to mirror external changes, which would race a
nonblocking write.
* log raylib fps
* log fps from frame time
* whitespace
* or just log frame time?
* init pubmaster in init window
* yield timings
* bump ordinal
* dont log on screen off
* UInt
* lint
* /0
* oops
* oops2
* more precise raylib frame time, can get fps with 1/ft
* don't crash on screen off
* NL
* no _
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Co-authored-by: Shane Smiskol <shane@smiskol.com>
* ui: speed up `mici/AugmentedRoadView` by optimizing _calc_frame_matrix caching (#36669)
speed up AugmentedRoadView by optimizing _calc_frame_matrix caching
* ui: apply rect.x/y as a 2D screen offset post-projection
Removes the parent rect's screen position from the cached
video_transform passed to ModelRenderer. Instead, ModelRenderer
applies (rect.x, rect.y) as a 2D offset to projected_points at draw
time.
Why this works: the rect.x/y term in video_transform gets multiplied
by P_calib[2] before the perspective divide, then divided by the same
value, which cancels out to a simple additive shift on the final
screen coordinate. So adding x to video_transform[0,2] is equivalent
to adding x to screen_x post-projection.
Net effect: the cache key in _calc_frame_matrix no longer needs to
include rect.x/y. Cache stays hot under translation (e.g. swiping
between layouts), and the model overlay tracks the camera at 60Hz
because the offset is updated cheaply each frame.
This addresses the original revert reason for #36669 (model overlay
visually desyncs from camera during a home<->onroad swipe).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* ui: update model screen offset every frame, not just on cache miss
set_screen_offset() was called inside the cache-miss path of
_calc_frame_matrix, so the offset only updated at ~20Hz (calib publish
rate). The model overlay visibly lagged the camera during a swipe.
Move it out of the cached path so it updates each frame.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* fully clean up
* shorter cmts
* make non
* clean up
* fix ty
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Co-authored-by: Dean Lee <deanlee3@gmail.com>
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* ui: keep arc_bar_pts cache hot when bar is translated
The LRU cache key included (cx, cy), which change every frame when
the parent widget's rect translates (e.g. during a scroll animation
in MainLayout). That made every cache lookup miss, recomputing the
arc geometry twice per frame and dropping fps.
Compute the shape at origin (so the cache key only depends on the
geometry: radius, thickness, angles), then translate to (cx, cy)
after. Cache stays hot under translation.
Measured on comma four (engaged, scrolling): ~5fps recovered while
moving between layouts.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* fully clean up
* fully clean up
---------
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* fix frame under text
* claude always taking the hard path
* cmt
* it still shows on start
* revert
* fix
* wait to show
* already a bug, don't fix here
* cmt
* cmt
Armand du Parc Locmaria