debug

Author: sshane

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -129,6 +129,9 @@ def _render(self, _):
       rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
 
 
+times = {}
+
+
 class AugmentedRoadView(CameraView):
   def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
     super().__init__("camerad", stream_type)
@@ -183,11 +186,24 @@ def _handle_mouse_release(self, mouse_pos: MousePos):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
+    def tlog(uid):
+      nonlocal t
+      now = time.monotonic()
+      if uid not in times:
+        times[uid] = [now - t]
+      else:
+        times[uid].append(now - t)
+      t = now
+
     start_draw = time.monotonic()
+    t = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
+    tlog("switch_stream")
+    # print(f"{(time.monotonic() - t) * 1000:.2f} ms - switch stream check")
 
     # Update calibration before rendering
     self._update_calibration()
+    tlog("update_calib")
 
     # Create inner content area with border padding
     self._content_rect = rl.Rectangle(
@@ -208,9 +224,11 @@ def _render(self, _):
 
     # Render the base camera view
     super()._render(self._content_rect)
+    tlog("camera render")
 
     # Draw all UI overlays
     self._model_renderer.render(self._content_rect)
+    tlog("model render")
 
     # Fade out bottom of overlays for looks
     rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)
@@ -232,6 +250,8 @@ def _render(self, _):
       self._alert_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
 
+    tlog("UI overlays")
+
     # Draw fake rounded border
     rl.draw_rectangle_rounded_lines_ex(self._content_rect, 0.2 * 1.02, 10, 50, rl.BLACK)
 
@@ -249,6 +269,14 @@ def _render(self, _):
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
       self._offroad_label.render(self._content_rect)
 
+    tlog("final overlays")
+
+    # print("*** AugmentedRoadView timing ***")
+    # for uid, tlist in times.items():
+    #   max_time = max(tlist) * 1000
+    #   avg_time = sum(tlist) / len(tlist) * 1000
+    #   print(f"  {uid}: max {max_time:.2f} ms, avg {avg_time:.2f} ms over {len(tlist)} calls")
+
     # publish uiDebug
     msg = messaging.new_message('uiDebug')
     msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000

selfdrive/ui/mici/onroad/cameraview.py

@@ -1,3 +1,4 @@
+import time
 import platform
 import numpy as np
 import pyray as rl
@@ -103,6 +104,8 @@
     }
     """
 
+times = {}
+
 
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
@@ -225,13 +228,27 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     ])
 
   def _render(self, rect: rl.Rectangle):
+    def tlog(uid):
+      nonlocal t
+      now = time.monotonic()
+      if uid not in times:
+        times[uid] = [now - t]
+      else:
+        times[uid].append(now - t)
+      t = now
+
+    t = time.monotonic()
     if self._switching:
       self._handle_switch()
 
+    tlog("switch")
+
     if not self._ensure_connection():
       self._draw_placeholder(rect)
       return
 
+    tlog("connect")
+
     # Try to get a new buffer without blocking
     buffer = self.client.recv(timeout_ms=0)
     if buffer:
@@ -240,35 +257,47 @@ def _render(self, rect: rl.Rectangle):
     elif not self.client.is_connected():
       # ensure we clear the displayed frame when the connection is lost
       self.frame = None
-
-    if not self.frame:
-      self._draw_placeholder(rect)
-      return
-
-    transform = self._calc_frame_matrix(rect)
-    src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    # Flip driver camera horizontally
-    if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
-      src_rect.width = -src_rect.width
-
-    # Calculate scale
-    scale_x = rect.width * transform[0, 0]  # zx
-    scale_y = rect.height * transform[1, 1]  # zy
-
-    # Calculate base position (centered)
-    x_offset = rect.x + (rect.width - scale_x) / 2
-    y_offset = rect.y + (rect.height - scale_y) / 2
-
-    x_offset += transform[0, 2] * rect.width / 2
-    y_offset += transform[1, 2] * rect.height / 2
-
-    dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
-
-    # Render with appropriate method
-    if TICI:
-      self._render_egl(src_rect, dst_rect)
-    else:
-      self._render_textures(src_rect, dst_rect)
+    #
+    # if not self.frame:
+    #   self._draw_placeholder(rect)
+    #   return
+    #
+    # tlog("recv")
+    #
+    # transform = self._calc_frame_matrix(rect)
+    # src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
+    # # Flip driver camera horizontally
+    # if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
+    #   src_rect.width = -src_rect.width
+    #
+    # # Calculate scale
+    # scale_x = rect.width * transform[0, 0]  # zx
+    # scale_y = rect.height * transform[1, 1]  # zy
+    #
+    # # Calculate base position (centered)
+    # x_offset = rect.x + (rect.width - scale_x) / 2
+    # y_offset = rect.y + (rect.height - scale_y) / 2
+    #
+    # x_offset += transform[0, 2] * rect.width / 2
+    # y_offset += transform[1, 2] * rect.height / 2
+    #
+    # dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
+    #
+    # tlog("calc rects")
+    #
+    # # Render with appropriate method
+    # if TICI:
+    #   self._render_egl(src_rect, dst_rect)
+    # else:
+    #   self._render_textures(src_rect, dst_rect)
+    #
+    # tlog("render")
+
+    print("*** CameraView timings ***")
+    for uid, tlist in times.items():
+      max_time = max(tlist) * 1000
+      avg_time = sum(tlist) / len(tlist) * 1000
+      print(f"  {uid}: max {max_time:.2f} ms, avg {avg_time:.2f} ms over {len(tlist)} calls")
 
   def _draw_placeholder(self, rect: rl.Rectangle):
     if self._placeholder_color:
@@ -342,6 +371,7 @@ def _ensure_connection(self) -> bool:
 
       if not self.client.connect(False) or not self.client.num_buffers:
         return False
+      return False
 
       cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}")
       self._initialize_textures()

tools/replay/camera.cc

@@ -8,7 +8,7 @@
 #include "third_party/linux/include/msm_media_info.h"
 #include "tools/replay/util.h"
 
-const int BUFFER_COUNT = 40;
+const int BUFFER_COUNT = 127;
 
 std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);