Reapply "raylib: 20 FPS onroad (#36208)"

This reverts commit 5cbfc7705b.

common/filter_simple.py

@@ -1,16 +1,21 @@
 class FirstOrderFilter:
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
-    self.dt = dt
+    self._dt = dt
     self.update_alpha(rc)
     self.initialized = initialized
 
+  def update_dt(self, dt):
+    self._dt = dt
+    self.update_alpha(self._rc)
+
   def update_alpha(self, rc):
-    self.alpha = self.dt / (rc + self.dt)
+    self._rc = rc
+    self._alpha = self._dt / (self._rc + self._dt)
 
   def update(self, x):
     if self.initialized:
-      self.x = (1. - self.alpha) * self.x + self.alpha * x
+      self.x = (1. - self._alpha) * self.x + self._alpha * x
     else:
       self.initialized = True
       self.x = x

selfdrive/ui/layouts/main.py

@@ -1,6 +1,7 @@
 import pyray as rl
 from enum import IntEnum
 import cereal.messaging as messaging
+from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
@@ -9,6 +10,10 @@ from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 
 
+ONROAD_FPS = 20
+OFFROAD_FPS = 60
+
+
 class MainState(IntEnum):
   HOME = 0
   SETTINGS = 1
@@ -25,6 +30,8 @@ class MainLayout(Widget):
     self._current_mode = MainState.HOME
     self._prev_onroad = False
 
+    gui_app.set_target_fps(OFFROAD_FPS)
+
     # Initialize layouts
     self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
 
@@ -74,6 +81,9 @@ class MainLayout(Widget):
       self._current_mode = layout
       self._layouts[self._current_mode].show_event()
 
+      # No need to draw onroad faster than source (model at 20Hz) and prevents screen tearing
+      gui_app.set_target_fps(ONROAD_FPS if self._current_mode == MainState.ONROAD else OFFROAD_FPS)
+
   def open_settings(self, panel_type: PanelType):
     self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
     self._set_current_layout(MainState.SETTINGS)

selfdrive/ui/onroad/model_renderer.py

@@ -7,7 +7,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import DEFAULT_FPS
+from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon
 from openpilot.system.ui.widgets import Widget
 
@@ -48,7 +48,7 @@ class ModelRenderer(Widget):
     super().__init__()
     self._longitudinal_control = False
     self._experimental_mode = False
-    self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / DEFAULT_FPS)
+    self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
     self._prev_allow_throttle = True
     self._lane_line_probs = np.zeros(4, dtype=np.float32)
     self._road_edge_stds = np.zeros(2, dtype=np.float32)
@@ -277,6 +277,7 @@ class ModelRenderer(Widget):
       return
 
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
+    self._blend_filter.update_dt(1 / gui_app.target_fps)
     self._blend_filter.update(int(allow_throttle))
 
     if self._experimental_mode:

selfdrive/ui/ui_state.py

@@ -9,7 +9,6 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
-from openpilot.system.ui.lib.application import DEFAULT_FPS
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 
@@ -153,7 +152,7 @@ class Device:
 
     self._offroad_brightness: int = BACKLIGHT_OFFROAD
     self._last_brightness: int = 0
-    self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / DEFAULT_FPS)
+    self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
     self._brightness_thread: threading.Thread | None = None
 
   def reset_interactive_timeout(self, timeout: int = -1) -> None:
@@ -190,6 +189,7 @@ class Device:
 
       clipped_brightness = float(np.clip(100 * clipped_brightness, 10, 100))
 
+    self._brightness_filter.update_dt(1 / gui_app.target_fps)
     brightness = round(self._brightness_filter.update(clipped_brightness))
     if not self._awake:
       brightness = 0

system/ui/lib/application.py

@@ -11,10 +11,10 @@ from enum import StrEnum
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE, PC, TICI
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.common.realtime import Ratekeeper
 
-DEFAULT_FPS = int(os.getenv("FPS", 20 if TICI else 60))
+_DEFAULT_FPS = int(os.getenv("FPS", "60"))
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
@@ -130,7 +130,7 @@ class GuiApplication:
     self._scaled_height = int(self._height * self._scale)
     self._render_texture: rl.RenderTexture | None = None
     self._textures: dict[str, rl.Texture] = {}
-    self._target_fps: int = DEFAULT_FPS
+    self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
     self._window_close_requested = False
     self._trace_log_callback = None
@@ -145,7 +145,7 @@ class GuiApplication:
   def request_close(self):
     self._window_close_requested = True
 
-  def init_window(self, title: str, fps: int = DEFAULT_FPS):
+  def init_window(self, title: str, fps: int = _DEFAULT_FPS):
     atexit.register(self.close)  # Automatically call close() on exit
 
     HARDWARE.set_display_power(True)
@@ -164,15 +164,22 @@ class GuiApplication:
       rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
       self._render_texture = rl.load_render_texture(self._width, self._height)
       rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
-    rl.set_target_fps(fps)
 
-    self._target_fps = fps
+    self.set_target_fps(fps)
     self._set_styles()
     self._load_fonts()
 
     if not PC:
       self._mouse.start()
 
+  @property
+  def target_fps(self):
+    return self._target_fps
+
+  def set_target_fps(self, fps: int):
+    self._target_fps = fps
+    rl.set_target_fps(fps)
+
   def set_modal_overlay(self, overlay, callback: Callable | None = None):
     self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)
 

system/ui/widgets/network.py

@@ -5,7 +5,7 @@ from typing import cast
 import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import gui_app, DEFAULT_FPS
+from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType
 from openpilot.system.ui.widgets import Widget
@@ -50,10 +50,12 @@ class NavButton(Widget):
     super().__init__()
     self.text = text
     self.set_rect(rl.Rectangle(0, 0, 400, 100))
-    self._x_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
+    self._x_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
-    self._y_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
+    self._y_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
 
   def set_position(self, x: float, y: float) -> None:
+    self._x_pos_filter.update_dt(1 / gui_app.target_fps)
+    self._y_pos_filter.update_dt(1 / gui_app.target_fps)
     x = self._x_pos_filter.update(x)
     y = self._y_pos_filter.update(y)
     changed = (self._rect.x != x or self._rect.y != y)