143 lines
4.4 KiB
Python
143 lines
4.4 KiB
Python
import atexit
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import os
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import time
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import pyray as rl
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from enum import IntEnum
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.swaglog import cloudlog
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DEFAULT_FPS = 60
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FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops
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FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning
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FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions
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DEBUG_FPS = os.getenv("DEBUG_FPS") == '1'
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STRICT_MODE = os.getenv("STRICT_MODE") == '1'
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DEFAULT_TEXT_SIZE = 60
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DEFAULT_TEXT_COLOR = rl.Color(200, 200, 200, 255)
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FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts")
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class FontWeight(IntEnum):
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BLACK = 0
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BOLD = 1
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EXTRA_BOLD = 2
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EXTRA_LIGHT = 3
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MEDIUM = 4
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NORMAL = 5
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SEMI_BOLD = 6
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THIN = 7
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class GuiApplication:
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def __init__(self, width: int, height: int):
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self._fonts: dict[FontWeight, rl.Font] = {}
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self._width = width
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self._height = height
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self._textures: list[rl.Texture] = []
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self._target_fps: int = DEFAULT_FPS
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self._last_fps_log_time: float = time.monotonic()
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def init_window(self, title: str, fps: int=DEFAULT_FPS):
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atexit.register(self.close) # Automatically call close() on exit
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rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT)
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rl.init_window(self._width, self._height, title)
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rl.set_target_fps(fps)
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self._target_fps = fps
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self._set_styles()
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self._load_fonts()
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def load_texture_from_image(self, file_name: str, width: int, height: int):
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"""Load and resize a texture, storing it for later automatic unloading."""
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image = rl.load_image(file_name)
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rl.image_resize(image, width, height)
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texture = rl.load_texture_from_image(image)
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# Set texture filtering to smooth the result
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rl.set_texture_filter(texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
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rl.unload_image(image)
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self._textures.append(texture)
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return texture
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def close(self):
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for texture in self._textures:
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rl.unload_texture(texture)
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for font in self._fonts.values():
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rl.unload_font(font)
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rl.close_window()
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def render(self):
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while not rl.window_should_close():
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rl.begin_drawing()
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rl.clear_background(rl.BLACK)
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yield
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if DEBUG_FPS:
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rl.draw_fps(10, 10)
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rl.end_drawing()
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self._monitor_fps()
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def font(self, font_wight: FontWeight=FontWeight.NORMAL):
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return self._fonts[font_wight]
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@property
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def width(self):
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return self._width
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@property
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def height(self):
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return self._height
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def _load_fonts(self):
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font_files = (
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"Inter-Black.ttf",
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"Inter-Bold.ttf",
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"Inter-ExtraBold.ttf",
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"Inter-ExtraLight.ttf",
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"Inter-Medium.ttf",
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"Inter-Regular.ttf",
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"Inter-SemiBold.ttf",
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"Inter-Thin.ttf"
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)
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for index, font_file in enumerate(font_files):
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font = rl.load_font_ex(os.path.join(FONT_DIR, font_file), 120, None, 0)
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rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
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self._fonts[index] = font
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rl.gui_set_font(self._fonts[FontWeight.NORMAL])
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def _set_styles(self):
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BORDER_WIDTH, 0)
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE)
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK))
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255)))
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rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
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def _monitor_fps(self):
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fps = rl.get_fps()
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# Log FPS drop below threshold at regular intervals
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if fps < self._target_fps * FPS_DROP_THRESHOLD:
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current_time = time.monotonic()
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if current_time - self._last_fps_log_time >= FPS_LOG_INTERVAL:
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cloudlog.warning(f"FPS dropped below {self._target_fps}: {fps}")
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self._last_fps_log_time = current_time
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# Strict mode: terminate UI if FPS drops too much
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if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
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cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
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os._exit(1)
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gui_app = GuiApplication(2160, 1080)
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