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IQ.Pilot Release Commit @ 661a2de

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This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-08 14:37:51 -05:00
parent a6c27ac169
commit a1ef7d6c80
211 changed files with 7332 additions and 2756 deletions
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4
system/camerad/cameras/spectra.cc
View File

@@ -596,7 +596,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
tmp.clk.budget_ns = 0x1fca058;
tmp.clk.frame_cycles = 2329024; // comes from the striping lib
tmp.clk.frame_cycles = 20000000; // force max BPS clock (600 MHz)
tmp.clk.rt_flag = 0x0;
tmp.clk.uncompressed_bw = 0x38512180;
tmp.clk.compressed_bw = 0x38512180;
@@ -843,7 +843,7 @@ void SpectraCamera::config_bps_downscale(int idx, int request_id) {
tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
tmp.clk.budget_ns = 0x1fca058;
tmp.clk.frame_cycles = sensor->frame_width * sensor->frame_height; // matches striping lib pixelCount
tmp.clk.frame_cycles = 20000000; // force max BPS clock (600 MHz)
tmp.clk.rt_flag = 0x0;
tmp.clk.uncompressed_bw = 0x38512180;
tmp.clk.compressed_bw = 0x38512180;

6
system/hardware/__init__.py
View File

@@ -14,3 +14,9 @@ if TICI:
HARDWARE = cast(HardwareBase, Tici())
else:
HARDWARE = cast(HardwareBase, Pc())
# Only comma 3/3X expose the DMA-BUF EGL extensions used by the zero-copy
# camera renderer and the direct EGL frame-pacing calls. /TICI is also present
# on comma 4, so it identifies the AGNOS hardware family rather than this GPU
# capability.
EGL_DMA_BUF_SUPPORTED = TICI and HARDWARE.get_device_type() in ("tici", "tizi")

12
system/hardware/base.h
View File

@@ -1,15 +1,25 @@
#pragma once
#include <cstdint>
#include <cstdlib>
#include <fstream>
#include <map>
#include <optional>
#include <string>
#include <vector>
#include "cereal/gen/cpp/log.capnp.h"
// no-op base hw class
class HardwareNone {
public:
struct UfsHealth {
uint8_t pre_eol_info;
uint8_t life_time_estimate_a;
uint8_t life_time_estimate_b;
std::vector<uint8_t> vendor_health_report;
};
static std::string get_name() { return ""; }
static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
static int get_voltage() { return 0; }
@@ -21,6 +31,8 @@ public:
return {};
}
static std::optional<UfsHealth> get_ufs_health() { return std::nullopt; }
static void set_ir_power(int percentage) {}
static bool PC() { return false; }

6
system/hardware/fan_controller.py
View File

@@ -6,7 +6,11 @@ class FanController:
def __init__(self) -> None:
self.last_ignition = False
def update(self, cur_temp: float, ignition: bool) -> int:
def update(self, cur_temp: float, ignition: bool, max_cool: bool = False) -> int:
if max_cool:
self.last_ignition = ignition
return 100
if cur_temp < 70.0:
fan_pwr_out = 0
elif cur_temp > 85.0:

6
system/hardware/hardwared.py
View File

@@ -432,8 +432,6 @@ def hardware_thread(end_event, hw_queue) -> None:
all_comp_temp = all_temp_filter.update(max(temp_sources))
msg.deviceState.maxTempC = all_comp_temp
msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
# if device is offroad and already hot without the extra onroad load,
@@ -447,6 +445,10 @@ def hardware_thread(end_event, hw_queue) -> None:
elif current_band.max_temp is not None and all_comp_temp > current_band.max_temp:
thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
# the car is running but temperature is blocking the start, so cool as fast as we can
max_cool = (started_ts is None) and onroad_conditions["ignition"] and thermal_status >= ThermalStatus.red
msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], max_cool)
# **** starting logic ****
startup_conditions["up_to_date"] = True

7
system/hardware/tests/test_fan_controller.py
View File

@@ -41,6 +41,13 @@ class TestFanController:
self.wind_up(controller, True)
assert controller.update(100, True) == 100
@pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
def test_max_cool(self, mocker, controller_class):
controller = patched_controller(mocker, controller_class)
self.wind_down(controller)
assert controller.update(80, True, True) == 100
assert controller.update(80, False, True) == 100
@pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
def test_windup_speed(self, mocker, controller_class):
controller = patched_controller(mocker, controller_class)

20
system/hardware/tici/agnos.json
View File

@@ -67,28 +67,28 @@
},
{
"name": "boot",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/boot-024e5c1f1785b2190520e57c7f88e41436fc22cae32a52d1d68dab65e1370500.img.xz",
"hash": "024e5c1f1785b2190520e57c7f88e41436fc22cae32a52d1d68dab65e1370500",
"hash_raw": "024e5c1f1785b2190520e57c7f88e41436fc22cae32a52d1d68dab65e1370500",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/boot-50b102d3dfa5d0eea506d9586745470cd59bcea9a723408a6abc20ffd6493a89.img.xz",
"hash": "50b102d3dfa5d0eea506d9586745470cd59bcea9a723408a6abc20ffd6493a89",
"hash_raw": "50b102d3dfa5d0eea506d9586745470cd59bcea9a723408a6abc20ffd6493a89",
"size": 18216960,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "737126dfeaa85870b4615e6310d4686bd049eac8176fc54608b88ecde590f21a"
"ondevice_hash": "fdcb135e8412a896c4a882738a7022f6b7779939d8716f24b9a566b0b3ff3757"
},
{
"name": "system",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b.img.xz",
"hash": "e6f7a840437bae56ca49b1f1709f6ba9645ed83484cd02494c05327c6910761b",
"hash_raw": "640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd.img.xz",
"hash": "62a08bdf79f6dc0075eba8b93b55cbac6eeee0ecd2b6e8ab05d51ef61a9a880a",
"hash_raw": "a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd",
"size": 6291456000,
"sparse": true,
"full_check": false,
"has_ab": true,
"ondevice_hash": "f7ebe73504e5c2b5f9d3b1f9db5b120badfa313dc78b4d50e6cd26463697aa2c",
"ondevice_hash": "9ed5bc147a6d4c2e0a89562f31096a7802485ee8e740defeab7674abbf6d4baa",
"alt": {
"hash": "640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b.img",
"hash": "a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd.img",
"size": 6291456000
}
}

2
system/hardware/tici/agnos.json.sig
View File

@@ -1 +1 @@
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LxtrHkl5DFbSWnd1DZCkinmXiKFUVUausf0oYpa97dyAp3QGpWx7wrEAUZuJbrERQtdIV72ZU2eKOaQwGMBQBg==

20
system/hardware/tici/agnos_tici_15_1.json
View File

@@ -56,28 +56,28 @@
},
{
"name": "boot",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/boot-024e5c1f1785b2190520e57c7f88e41436fc22cae32a52d1d68dab65e1370500.img.xz",
"hash": "024e5c1f1785b2190520e57c7f88e41436fc22cae32a52d1d68dab65e1370500",
"hash_raw": "024e5c1f1785b2190520e57c7f88e41436fc22cae32a52d1d68dab65e1370500",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/boot-50b102d3dfa5d0eea506d9586745470cd59bcea9a723408a6abc20ffd6493a89.img.xz",
"hash": "50b102d3dfa5d0eea506d9586745470cd59bcea9a723408a6abc20ffd6493a89",
"hash_raw": "50b102d3dfa5d0eea506d9586745470cd59bcea9a723408a6abc20ffd6493a89",
"size": 18216960,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "737126dfeaa85870b4615e6310d4686bd049eac8176fc54608b88ecde590f21a"
"ondevice_hash": "fdcb135e8412a896c4a882738a7022f6b7779939d8716f24b9a566b0b3ff3757"
},
{
"name": "system",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b.img.xz",
"hash": "e6f7a840437bae56ca49b1f1709f6ba9645ed83484cd02494c05327c6910761b",
"hash_raw": "640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd.img.xz",
"hash": "62a08bdf79f6dc0075eba8b93b55cbac6eeee0ecd2b6e8ab05d51ef61a9a880a",
"hash_raw": "a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd",
"size": 6291456000,
"sparse": true,
"full_check": false,
"has_ab": true,
"ondevice_hash": "f7ebe73504e5c2b5f9d3b1f9db5b120badfa313dc78b4d50e6cd26463697aa2c",
"ondevice_hash": "9ed5bc147a6d4c2e0a89562f31096a7802485ee8e740defeab7674abbf6d4baa",
"alt": {
"hash": "640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-640f36a79dc2a3237d9dd253e55cee3ea9cb55988468482d489f38f6b893fb3b.img",
"hash": "a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd",
"url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-a473962357e3c0c7639af17006def4567f02e64d578b00e2e0037012755be5cd.img",
"size": 6291456000
}
}

2
system/hardware/tici/agnos_tici_15_1.json.sig
View File

@@ -1 +1 @@
A9eBPajhAHUyx3wzPP/pZn2VRIMS2UNtSoeuIZTCAFkbV5HhAkD8HlLSemijmRQtMR62adjV+HUwZ0eRaZpdCg==
mKCTfzNHr1d0BYPdmXQRPGpnVuLaDLGZGLbq+86ZJQaGIK1ekcKeYeycoX8BTMNFr+89Tnd77M/CvmjM8yteCg==

48
system/hardware/tici/hardware.h
View File

@@ -1,17 +1,63 @@
#pragma once
#include <cstdlib>
#include <array>
#include <cassert>
#include <cstddef>
#include <cstdint>
#include <cstdlib>
#include <fcntl.h>
#include <fstream>
#include <map>
#include <string>
#include <algorithm> // for std::clamp
#include <sys/ioctl.h>
#include <unistd.h>
#include "common/util.h"
#include "system/hardware/base.h"
class HardwareTici : public HardwareNone {
public:
static std::optional<UfsHealth> get_ufs_health() {
constexpr unsigned long UFS_IOCTL_QUERY = 0x5388;
constexpr uint32_t UPIU_QUERY_OPCODE_READ_DESC = 0x1;
constexpr uint8_t QUERY_DESC_IDN_HEALTH = 0x9;
constexpr uint16_t QUERY_DESC_HEALTH_SIZE = 0x25;
struct UfsQuery {
uint32_t opcode;
uint8_t idn;
uint8_t reserved;
uint16_t buf_size;
std::array<uint8_t, QUERY_DESC_HEALTH_SIZE> buffer;
};
static_assert(offsetof(UfsQuery, buffer) == 8);
UfsQuery query = {};
query.opcode = UPIU_QUERY_OPCODE_READ_DESC;
query.idn = QUERY_DESC_IDN_HEALTH;
query.buf_size = QUERY_DESC_HEALTH_SIZE;
int fd = open("/dev/sda", O_RDONLY | O_CLOEXEC);
if (fd < 0) {
return std::nullopt;
}
int ret = ioctl(fd, UFS_IOCTL_QUERY, &query);
close(fd);
if (ret != 0 || query.buf_size < 5 || query.buf_size > query.buffer.size() ||
query.buffer[0] != query.buf_size || query.buffer[1] != QUERY_DESC_IDN_HEALTH) {
return std::nullopt;
}
return UfsHealth{
query.buffer[2],
query.buffer[3],
query.buffer[4],
std::vector<uint8_t>(query.buffer.begin() + 5, query.buffer.begin() + query.buf_size),
};
}
static std::string get_name() {
std::string model = util::read_file("/sys/firmware/devicetree/base/model");
return util::strip(model.substr(std::string("comma ").size()));

9
system/hardware/tici/hardware.py
View File

@@ -85,8 +85,13 @@ def affine_irq(val, action):
@lru_cache
def get_device_type():
# lru_cache and cache can cause memory leaks when used in classes
with open("/sys/firmware/devicetree/base/model") as f:
model = f.read().strip('\x00')
try:
with open("/sys/firmware/devicetree/base/model") as f:
model = f.read().strip('\x00')
except FileNotFoundError:
# off-device (e.g. the prebuilt build container fakes /TICI but has no
# devicetree); import must not crash. Not a real device type.
return "unknown"
return model.split('comma ')[-1]
class Tici(HardwareBase):

11
system/loggerd/encoder/v4l_encoder.cc
View File

@@ -78,9 +78,10 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
uint32_t idx = -1;
bool exit = false;
// POLLIN is capture, POLLOUT is frame
// POLLIN is capture, POLLOUT is frame. Qualcomm's reference client also
// requests the corresponding normal-data bits.
struct pollfd pfd;
pfd.events = POLLIN | POLLOUT;
pfd.events = POLLIN | POLLRDNORM | POLLOUT | POLLWRNORM;
pfd.fd = e->fd;
// save the header
@@ -105,7 +106,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
}
int frame_id = -1;
if (pfd.revents & POLLIN) {
if (pfd.revents & (POLLIN | POLLRDNORM)) {
unsigned int bytesused, flags, index;
struct timeval timestamp;
dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, &index, &bytesused, &flags, &timestamp);
@@ -136,7 +137,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
queue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, index, &e->buf_out[index]);
}
if (pfd.revents & POLLOUT) {
if (pfd.revents & (POLLOUT | POLLWRNORM)) {
unsigned int index;
dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, &index);
e->free_buf_in.push(index);
@@ -244,7 +245,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
{ .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
{ .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA, .value = 0},
{ .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA, .value = 0},
{ .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},

8
system/loggerd/logger.cc
View File

@@ -46,6 +46,14 @@ kj::Array<capnp::word> logger_build_init_data() {
init.setKernelVersion(util::read_file("/proc/version"));
init.setOsVersion(util::read_file("/VERSION"));
if (auto health = Hardware::get_ufs_health()) {
auto ufs_health = init.initUfsHealth();
ufs_health.setPreEolInfo(health->pre_eol_info);
ufs_health.setLifeTimeEstimateA(health->life_time_estimate_a);
ufs_health.setLifeTimeEstimateB(health->life_time_estimate_b);
ufs_health.setVendorHealthReport(capnp::Data::Reader(health->vendor_health_report.data(), health->vendor_health_report.size()));
}
// log params
Params params(util::getenv("PARAMS_COPY_PATH", ""));
std::map<std::string, std::string> params_map = params.readAll();

9
system/loggerd/tests/test_loggerd.py
View File

@@ -170,6 +170,15 @@ class TestLoggerd:
assert initData.dirty != bool(os.environ["CLEAN"])
assert initData.version == get_version()
if TICI:
assert initData._has("ufsHealth")
assert initData.ufsHealth.preEolInfo in (1, 2, 3)
assert 1 <= initData.ufsHealth.lifeTimeEstimateA <= 11
assert 1 <= initData.ufsHealth.lifeTimeEstimateB <= 11
assert len(initData.ufsHealth.vendorHealthReport) == 32
else:
assert not initData._has("ufsHealth")
if os.path.isfile("/proc/cmdline"):
with open("/proc/cmdline") as f:
assert list(initData.kernelArgs) == f.read().strip().split(" ")

11
system/manager/process_config.py
View File

@@ -98,7 +98,9 @@ def constructiond_onroad(started: bool, params: Params, CP: car.CarParams) -> bo
return started and params.get_bool("ConstructionZoneAssist")
def iqvd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
return started and params.get_bool("VisionVehicleTracks")
# held for 1.0d: iqvd runs a detector per frame and the added load is not
# something 1.0c needs to carry. re-enable by restoring the param check.
return False
def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
return not started
@@ -109,6 +111,12 @@ def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
# down cleanly when the session ends — no subprocess management inside hephaestusd.
return params.get_bool("IsLiveStreaming")
def canlive(started: bool, params: Params, CP: car.CarParams) -> bool:
# Remote live CAN debugging via konn3kt. hephaestusd sets CanLiveStreaming when a viewer
# connects (startCanLive) and clears it when the last one leaves (stopCanLive), so canlived
# runs only during an active debug session — no idle connection or battery cost otherwise.
return params.get_bool("CanLiveStreaming")
def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
"""Check if the active model runner is tinygrad."""
return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.tinygrad)
@@ -179,6 +187,7 @@ procs = [
# debug procs
NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(iscar, livestream)),
PythonProcess("canlived", "iqpilot.konn3kt.canlive.canlived", canlive),
PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
]

17
system/micd.py
View File

@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import numpy as np
import os
import time
from functools import cache
import threading
@@ -136,10 +137,18 @@ class Mic:
self.last_device = f"{device}: {sd.query_devices(device)['name']}" if isinstance(device, int) else str(device)
cloudlog.info(f"micd selecting input device {self.last_device}")
with self.get_stream(sd) as stream:
cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
while True:
self.update()
while True:
try:
with self.get_stream(sd) as stream:
cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
while True:
self.update()
except Exception:
# Some A1s wedge the audio DSP (ALSA EINVAL / ADSP_EFAILED until reboot). Dying here
# crash-loops the process and selfdrived raises a takeover alert mid-drive over a
# microphone - stay alive and keep retrying instead; recovers if the DSP comes back.
cloudlog.exception("micd: audio stream unavailable, retrying")
time.sleep(10)
def main():

4
system/timed.py
View File

@@ -12,7 +12,7 @@ from openpilot.common.gps import get_gps_location_service
def set_time(new_time):
diff = datetime.datetime.now() - new_time
diff = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - new_time
if abs(diff) < datetime.timedelta(seconds=10):
cloudlog.debug(f"Time diff too small: {diff}")
return
@@ -47,7 +47,7 @@ def main() -> NoReturn:
pm.send('clocks', msg)
gps = sm[gps_location_service]
gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000., datetime.UTC).replace(tzinfo=None)
if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
continue
if not gps.hasFix:

12
system/ui/lib/application.py
View File

@@ -22,7 +22,7 @@ from pathlib import Path
from typing import NamedTuple
from importlib.resources import as_file, files
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware import EGL_DMA_BUF_SUPPORTED, HARDWARE, PC
from openpilot.system.ui.lib.multilang import multilang
from openpilot.common.realtime import Ratekeeper
@@ -326,7 +326,7 @@ class GuiApplication(IQAppHooks):
rl.glfw_swap_interval(0)
except Exception:
pass
if not PC and rl.is_window_ready() and not OFFSCREEN:
if EGL_DMA_BUF_SUPPORTED and rl.is_window_ready() and not OFFSCREEN:
try:
from openpilot.system.ui.lib.egl import set_swap_interval
set_swap_interval(0)
@@ -349,7 +349,7 @@ class GuiApplication(IQAppHooks):
glfw_vsync = False
egl_vsync = False
if not PC:
if EGL_DMA_BUF_SUPPORTED:
try:
from openpilot.system.ui.lib.egl import set_swap_interval
egl_vsync = set_swap_interval(interval)
@@ -367,7 +367,7 @@ class GuiApplication(IQAppHooks):
rl.rl_draw_render_batch_active()
def _apply_display_sync_before_swap(self) -> None:
if PC or OFFSCREEN or not DISPLAY_SYNC_BEFORE_SWAP or self._display_sync_available is False:
if not EGL_DMA_BUF_SUPPORTED or OFFSCREEN or not DISPLAY_SYNC_BEFORE_SWAP or self._display_sync_available is False:
return
try:
self._flush_raylib_batch()
@@ -395,7 +395,7 @@ class GuiApplication(IQAppHooks):
# intermittent screen tearing when scrolling (the content moves, so a mid-scanout swap is
# visible). eglSwapInterval is a trivial call, so re-assert it every frame to keep FIFO vsync
# pinned instead of relying on the slow (VSYNC_REAPPLY_INTERVAL) full re-apply below.
if self._paced_by_vsync and self._vsync_interval > 0 and not PC and rl.is_window_ready():
if self._paced_by_vsync and self._vsync_interval > 0 and EGL_DMA_BUF_SUPPORTED and rl.is_window_ready():
try:
from openpilot.system.ui.lib.egl import set_swap_interval
set_swap_interval(self._vsync_interval)
@@ -850,7 +850,7 @@ class GuiApplication(IQAppHooks):
# full-res frame texture can make the Adreno/GBM driver silently reset the swap interval to 0
# *after* that call but before this swap, which reintroduced tearing. This is the swap that
# actually matters, so pin the interval here too.
if (ENABLE_VSYNC and not OFFSCREEN and not PC and self._paced_by_vsync
if (ENABLE_VSYNC and not OFFSCREEN and EGL_DMA_BUF_SUPPORTED and self._paced_by_vsync
and self._vsync_interval > 0 and rl.is_window_ready()):
try:
from openpilot.system.ui.lib.egl import set_swap_interval