raylib: flip! (#36319)

* flip!

* add ui

* ?

* qt is extra

* low node

* add uiDebug

* fix

* fix dat

* bump double increase for tol

* it's ~11ms but double for tol

* fix report

* Update selfdrive/test/test_onroad.py

selfdrive/SConscript

@@ -3,4 +3,5 @@ SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
 SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
+if GetOption('extras'):
+  SConscript(['ui/SConscript'])

selfdrive/test/test_onroad.py

@@ -32,7 +32,7 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 300.  # total for all 8 cores
+MAX_TOTAL_CPU = 315.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
@@ -42,7 +42,7 @@ PROCS = {
   "./encoderd": 13.0,
   "./camerad": 10.0,
   "selfdrive.controls.plannerd": 8.0,
-  "./ui": 18.0,
+  "selfdrive.ui.ui": 24.0,
   "system.sensord.sensord": 13.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
@@ -215,7 +215,7 @@ class TestOnroad:
     print(result)
 
     assert max(ts) < 250.
-    assert np.mean(ts) < 10.
+    assert np.mean(ts) < 20.  # TODO: ~6-11ms, increase consistency
     #self.assertLess(np.std(ts), 5.)
 
     # some slow frames are expected since camerad/modeld can preempt ui

selfdrive/ui/onroad/augmented_road_view.py

@@ -1,6 +1,7 @@
+import time
 import numpy as np
 import pyray as rl
-from cereal import log
+from cereal import log, messaging
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
 from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
@@ -48,8 +49,12 @@ class AugmentedRoadView(CameraView):
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
 
+    # debug
+    self._pm = messaging.PubMaster(['uiDebug'])
+
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
+    start_draw = time.monotonic()
     if not ui_state.started:
       return
 
@@ -93,6 +98,11 @@ class AugmentedRoadView(CameraView):
     # End clipping region
     rl.end_scissor_mode()
 
+    # publish uiDebug
+    msg = messaging.new_message('uiDebug')
+    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+    self._pm.send('uiDebug', msg)
+
   def _handle_mouse_press(self, _):
     if not self._hud_renderer.user_interacting() and self._click_callback is not None:
       self._click_callback()

selfdrive/ui/tests/test_raylib_ui.py

@@ -2,7 +2,7 @@ import time
 from openpilot.selfdrive.test.helpers import with_processes
 
 
-@with_processes(["raylib_ui"])
+@with_processes(["ui"])
 def test_raylib_ui():
   """Test initialization of the UI widgets is successful."""
   time.sleep(1)

selfdrive/ui/tests/test_ui/raylib_screenshots.py

@@ -160,7 +160,7 @@ class TestUI:
     time.sleep(0.01)
     pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs)
 
-  @with_processes(["raylib_ui"])
+  @with_processes(["ui"])
   def test_ui(self, name, setup_case):
     self.setup()
     time.sleep(UI_DELAY)  # wait for UI to start

system/manager/build.py

@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 3275
+TOTAL_SCONS_NODES = 2280
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:

system/manager/process_config.py

@@ -80,8 +80,8 @@ procs = [
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
+  # NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, enabled=False, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("raylib_ui", "selfdrive.ui.ui", always_run, enabled=False, watchdog_max_dt=(5 if not PC else None)),
+  PythonProcess("ui", "selfdrive.ui.ui", always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),