cleanup

This reverts commit 75b4e61913.

openpilot/common/params_keys.h

@@ -132,6 +132,7 @@ 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 --- //

openpilot/selfdrive/modeld/load_progress.py

@@ -0,0 +1,44 @@
+import os
+from openpilot.common.file_chunker import open_file_chunked, get_existing_chunks
+from openpilot.common.params import Params
+
+PARAM = "UsbGpuLoadProgress"
+
+
+class ProgressReader:
+  def __init__(self, inner, total):
+    self._inner = inner
+    self._total = total
+    self._params = Params()
+    self._read = 0
+    self._pct = -1
+    self._step = max(64 * 1024, total // 100)
+
+  def _bump(self, n):
+    self._read += n
+    if self._total:
+      pct = min(100, self._read * 100 // self._total)
+      if pct != self._pct:
+        self._pct = pct
+        self._params.put(PARAM, pct)
+
+  def read(self, size=-1):
+    data = self._inner.read(size)
+    self._bump(len(data))
+    return data
+
+  def readinto(self, b):
+    view = memoryview(b)
+    done = 0
+    while done < len(view):
+      n = self._inner.readinto(view[done:done + self._step])
+      if not n:
+        break
+      done += n
+      self._bump(n)
+    return done
+
+
+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)

openpilot/selfdrive/modeld/modeld.py

@@ -29,6 +29,7 @@ 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
 
@@ -145,7 +146,7 @@ class ModelState(ModelStateBase):
     ModelStateBase.__init__(self)
     input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
-    jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
+    jits = load_oob(open_with_progress(modeld_pkl_path(usbgpu)) if usbgpu else open_file_chunked(modeld_pkl_path(usbgpu)))
     metadata = jits['metadata']
     self.input_shapes = metadata['input_shapes']
     self.vision_input_names = [k for k in self.input_shapes if 'img' in k]

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(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
+    alpha = self._egpu_alpha_filter.update(True)
     if alpha < 1e-2:
       return
 
@@ -231,6 +231,18 @@ 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):
+        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/ui_state.py

@@ -86,6 +86,7 @@ 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
@@ -164,6 +165,9 @@ 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/modeld.py

@@ -25,6 +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.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -107,7 +108,7 @@ class ModelState(ModelStateBase):
 
   def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
     cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    jits = load_oob(open_file_chunked(pkl_path))
+    jits = load_oob(open_with_progress(pkl_path) if self.usbgpu else open_file_chunked(pkl_path))
 
     self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
     self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV