IQ.Pilot Release Commit @ 0798119

selfdrive/ui/ui.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+import ctypes
+import os
+import time
+import pyray as rl
+
+from openpilot.system.hardware import TICI
+from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.layouts.main import MainLayout
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+_FPS_OVERRIDE = os.getenv("FPS")
+UI_OFFROAD_FPS = int(os.getenv("UI_OFFROAD_FPS", _FPS_OVERRIDE or "60"))
+UI_ONROAD_FPS = int(os.getenv("UI_ONROAD_FPS", _FPS_OVERRIDE or "20"))
+
+
+def main():
+  cores = {5, }
+  # Run the UI above plannerd/radard (CTRL_LOW=51), which share core 5 with us after the TICI
+  # reaffine. At equal priority under SCHED_FIFO the render loop can't preempt their bursts and
+  # misses the vblank deadline onroad; stock runs the UI at CTRL_HIGH for exactly this reason.
+  config_realtime_process(0, Priority.CTRL_HIGH)
+
+  gui_app.init_window("UI", fps=UI_OFFROAD_FPS, screen_recordable=True)
+  big = gui_app.big_ui()
+  if big:
+    # BIG UI (comma 3/3x): rendered manually each frame (unchanged).
+    main_layout = MainLayout()
+    main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  else:
+    # mici (comma 4): drives the nav stack; MiciMainLayout pushes itself in __init__
+    # and is rendered by gui_app.render() (settings push on top).
+    main_layout = MiciMainLayout()
+
+  # Tile decode/upload churn (1MB stb buffers off worker threads) grows glibc arenas
+  # that are never returned to the kernel; periodic trim keeps freed pages from
+  # accumulating as resident memory on long map/nav drives.
+  libc_trim = None
+  if TICI:
+    try:
+      libc_trim = ctypes.CDLL("libc.so.6").malloc_trim
+    except (OSError, AttributeError):
+      libc_trim = None
+  last_trim = time.monotonic()
+
+  for should_render in gui_app.render():
+    ui_state.update()
+    gui_app.set_target_fps(UI_ONROAD_FPS if ui_state.started else UI_OFFROAD_FPS)
+    if should_render:
+      if big:
+        main_layout.render()
+
+      # reaffine after power save offlines our core
+      if TICI and os.sched_getaffinity(0) != cores:
+        try:
+          set_core_affinity(list(cores))
+        except OSError:
+          pass
+
+      if libc_trim is not None and time.monotonic() - last_trim > 300.0:
+        last_trim = time.monotonic()
+        libc_trim(0)
+
+
+if __name__ == "__main__":
+  main()