V8 wip6 x3 (#154)
* update until aaaa2d0, fix.. cruise, default settings.
This commit is contained in:
carrot
GitHub
parent
7d4f1cfb28
commit
18bba4fc86
@ -463,6 +463,8 @@ class VCruiseCarrot:
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self._pause_auto_speed_up = False
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if self._soft_hold_active > 0:
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self._soft_hold_active = 0
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elif self._cruise_ready:
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pass
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elif self._v_cruise_kph_at_brake > 0 and v_cruise_kph < self._v_cruise_kph_at_brake:
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v_cruise_kph = self._v_cruise_kph_at_brake
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self._v_cruise_kph_at_brake = 0
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@ -476,6 +478,8 @@ class VCruiseCarrot:
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self._pause_auto_speed_up = True
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if self._soft_hold_active > 0:
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self._cruise_control(-1, -1, "Cruise off,softhold mode (decelCruise)")
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elif self._cruise_ready:
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pass
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elif self.v_ego_kph_set > v_cruise_kph + 2:
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v_cruise_kph = max(self.v_ego_kph_set, self._cruise_speed_min)
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elif self._cruise_button_mode in [0, 1]:
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@ -212,14 +212,14 @@
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{
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"group": "조향튜닝",
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"name": "SteerActuatorDelay",
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"title": "SteerActuatorDelay(40)",
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"title": "SteerActuatorDelay(30)",
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"descr": "조향지연값",
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"egroup": "LAT",
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"etitle": "SteerActuatorDelay(40)",
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"etitle": "SteerActuatorDelay(30)",
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"edescr": "",
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"min": 1,
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"max": 300,
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"default": 40,
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"default": 30,
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"unit": 1
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},
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{
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@ -368,23 +368,23 @@
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{
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"group": "주행튜닝",
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"name": "ComfortBrake",
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"title": "Comfort Brake(240)",
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"title": "Comfort Brake(250)",
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"descr": "x0.01, 값이 크면 급하게 브레이킹",
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"egroup": "LONG",
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"etitle": "Comfort Brake(240)",
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"etitle": "Comfort Brake(250)",
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"edescr": "",
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"min": 200,
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"max": 300,
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"default": 240,
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"default": 250,
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"unit": 5
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},
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{
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"group": "주행튜닝",
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"name": "JLeadFactor2",
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"title": "JerkLeadFactor(0)",
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"title": "JerkLeadFactor(100)",
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"descr": "값이 작으면 전방차량의 Jerk에 민감하게 반응",
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"egroup": "LONG",
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"etitle": "JerkLeadFactor(0)",
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"etitle": "JerkLeadFactor(100)",
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"edescr": "",
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"min": 10,
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"max": 100,
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@ -394,11 +394,11 @@
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{
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"group": "주행튜닝",
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"name": "LongTuningKpV",
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"title": "Long KpV(100)x0.01",
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"descr": "",
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"title": "Long KpV(0)x0.01",
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"descr": "HKG: AccelPid:0, VelocityPid:100",
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"egroup": "LONG",
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"etitle": "Long KpV(100)x0.01",
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"edescr": "",
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"etitle": "Long KpV(0)x0.01",
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"edescr": "HKG: AccelPid:0, VelocityPid:100",
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"min": 0,
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"max": 200,
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"default": 0,
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@ -54,6 +54,9 @@ def clamp(val, min_val, max_val):
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clamped_val = float(np.clip(val, min_val, max_val))
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return clamped_val, clamped_val != val
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def smooth_value(val, prev_val, tau, dt=DT_MDL):
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alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
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return alpha * val + (1 - alpha) * prev_val
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def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
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# This function respects ISO lateral jerk and acceleration limits + a max curvature
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@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
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from openpilot.common.transformations.model import get_warp_matrix
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from openpilot.system import sentry
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from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
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from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan
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from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
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from openpilot.selfdrive.modeld.parse_model_outputs import Parser
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from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
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from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
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@ -46,10 +46,6 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p
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LAT_SMOOTH_SECONDS = 0.13
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LONG_SMOOTH_SECONDS = 0.3
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def smooth_value(val, prev_val, tau):
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alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
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return alpha * val + (1 - alpha) * prev_val
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def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
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lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
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@ -310,6 +310,9 @@ protected:
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}
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}
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Params params;
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std::deque<float> minDeque[3]; // 최소값을 유지하는 덱
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std::deque<float> maxDeque[3]; // 최대값을 유지하는 덱
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void makePlotData(const UIState* s, float data[], char* title) {
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SubMaster& sm = *(s->sm);
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@ -395,14 +398,14 @@ protected:
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plotIndex = 0;
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plotMin = 0.;
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plotMax = 0.;
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for (int i = 0; i < 3; i++) {
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minDeque[i].clear();
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maxDeque[i].clear();
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}
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show_plot_mode_prev = show_plot_mode;
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}
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}
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Params params;
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std::deque<float> minDeque[3]; // 최소값을 유지하는 덱
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std::deque<float> maxDeque[3]; // 최대값을 유지하는 덱
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void updatePlotQueue(float plot_data[3]) {
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// plotIndex 업데이트
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plotIndex = (plotIndex + 1) % PLOT_MAX;
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@ -664,8 +664,8 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
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latLongToggles->addItem(new CValueControl("StoppingAccel", "LONG: StoppingStartAccelx0.01(-40)", "", "../assets/offroad/icon_logic.png", -100, 0, 5));
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latLongToggles->addItem(new CValueControl("StopDistanceCarrot", "LONG: StopDistance (600)cm", "", "../assets/offroad/icon_logic.png", 300, 1000, 10));
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//latLongToggles->addItem(new CValueControl("TraffStopDistanceAdjust", "LONG: TrafficStopDistance adjust(150)cm", "", "../assets/offroad/icon_road.png", -1000, 1000, 10));
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latLongToggles->addItem(new CValueControl("ComfortBrake", "LONG: Comfort Brake (240)", "x0.01", "../assets/offroad/icon_logic.png", 200, 300, 1));
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latLongToggles->addItem(new CValueControl("JLeadFactor2", "LONG: Jerk Lead Factor (0)", "x0.01", "../assets/offroad/icon_logic.png", 10, 100, 5));
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latLongToggles->addItem(new CValueControl("ComfortBrake", "LONG: Comfort Brake (250)", "x0.01", "../assets/offroad/icon_logic.png", 200, 300, 1));
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latLongToggles->addItem(new CValueControl("JLeadFactor2", "LONG: Jerk Lead Factor (100)", "x0.01", "../assets/offroad/icon_logic.png", 10, 100, 5));
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latLongToggles->addItem(new CValueControl("CruiseMaxVals1", "ACCEL:0km/h(160)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
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latLongToggles->addItem(new CValueControl("CruiseMaxVals2", "ACCEL:40km/h(120)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
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latLongToggles->addItem(new CValueControl("CruiseMaxVals3", "ACCEL:60km/h(100)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
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@ -674,7 +674,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
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latLongToggles->addItem(new CValueControl("CruiseMaxVals6", "ACCEL:140km/h(60)", "속도별 가속도를 지정합니다.(x0.01m/s^2)", "../assets/offroad/icon_logic.png", 1, 250, 5));
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//latLongToggles->addItem(new CValueControl("CruiseMinVals", "DECEL:(120)", "감속도를 설정합니다.(x0.01m/s^2)", "../assets/offroad/icon_road.png", 50, 250, 5));
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latLongToggles->addItem(new CValueControl("MaxAngleFrames", "MaxAngleFrames(89)", "89:기본, 스티어계기판에러시 85~87", "../assets/offroad/icon_logic.png", 80, 100, 1));
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latLongToggles->addItem(new CValueControl("SteerActuatorDelay", "LAT:SteerActuatorDelay(40)", "표준", "../assets/offroad/icon_logic.png", 1, 100, 1));
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latLongToggles->addItem(new CValueControl("SteerActuatorDelay", "LAT:SteerActuatorDelay(30)", "표준", "../assets/offroad/icon_logic.png", 1, 100, 1));
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latLongToggles->addItem(new CValueControl("LateralTorqueCustom", "LAT: TorqueCustom(0)", "", "../assets/offroad/icon_logic.png", 0, 2, 1));
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latLongToggles->addItem(new CValueControl("LateralTorqueAccelFactor", "LAT: TorqueAccelFactor(2500)", "", "../assets/offroad/icon_logic.png", 1000, 6000, 10));
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latLongToggles->addItem(new CValueControl("LateralTorqueFriction", "LAT: TorqueFriction(100)", "", "../assets/offroad/icon_logic.png", 0, 1000, 10));
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@ -26,6 +26,9 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
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LOGD("allocated %d CL buffers", frame_buf_count);
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}
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out_img_width = sensor->frame_width;
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out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
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// the encoder HW tells us the size it wants after setting it up.
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// TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
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size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
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@ -32,7 +32,7 @@ public:
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VisionBuf *cur_yuv_buf;
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VisionBuf *cur_camera_buf;
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std::unique_ptr<VisionBuf[]> camera_bufs_raw;
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uint32_t out_img_width, out_img_height;
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int out_img_width, out_img_height;
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CameraBuf() = default;
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~CameraBuf();
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@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
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if (!camera.enabled) return;
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fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
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fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
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set_exposure_rect();
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dc_gain_weight = camera.sensor->dc_gain_min_weight;
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@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
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float fl_ref = ae_target.second;
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ae_xywh = (Rect){
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std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
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std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
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std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
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std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
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std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
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std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
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std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
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std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
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};
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}
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@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
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}
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int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
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int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
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uint8_t *start = dst;
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// start with the every frame config
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@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
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// output size/scaling
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dst += write_cont(dst, 0xa3c, {
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0x00000003,
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((out_width - 1) << 16) | (s->frame_width - 1),
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((s->frame_width - 1) << 16) | (s->frame_width - 1),
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0x30036666,
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0x00000000,
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0x00000000,
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s->frame_width - 1,
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((out_height - 1) << 16) | (s->frame_height - 1),
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((s->frame_height - 1) << 16) | (s->frame_height - 1),
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0x30036666,
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0x00000000,
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0x00000000,
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@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
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});
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dst += write_cont(dst, 0xa68, {
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0x00000003,
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((out_width / 2 - 1) << 16) | (s->frame_width - 1),
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((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
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0x3006cccc,
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0x00000000,
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0x00000000,
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s->frame_width - 1,
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((out_height / 2 - 1) << 16) | (s->frame_height - 1),
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((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
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0x3006cccc,
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0x00000000,
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0x00000000,
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@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
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// cropping
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dst += write_cont(dst, 0xe10, {
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out_height - 1,
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out_width - 1,
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s->frame_height - 1,
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s->frame_width - 1,
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});
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dst += write_cont(dst, 0xe30, {
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out_height / 2 - 1,
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out_width - 1,
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s->frame_height/2 - 1,
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s->frame_width - 1,
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});
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dst += write_cont(dst, 0xe18, {
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0x0ff00000,
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@ -281,21 +281,18 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
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if (!enabled) return;
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buf.out_img_width = sensor->frame_width / sensor->out_scale;
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buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
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// size is driven by all the HW that handles frames,
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// the video encoder has certain alignment requirements in this case
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stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
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y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
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uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
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stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
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y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
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uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
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uv_offset = stride*y_height;
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yuv_size = uv_offset + stride*uv_height;
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if (cc.output_type != ISP_RAW_OUTPUT) {
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uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
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yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
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}
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assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
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assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
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assert(y_height/2 == uv_height);
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open = true;
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@ -648,14 +645,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
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io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
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io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
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io_cfg[1].planes[0] = (struct cam_plane_cfg){
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.width = buf.out_img_width,
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.height = buf.out_img_height,
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.width = sensor->frame_width,
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.height = sensor->frame_height,
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.plane_stride = stride,
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.slice_height = y_height,
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};
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io_cfg[1].planes[1] = (struct cam_plane_cfg){
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.width = buf.out_img_width,
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.height = buf.out_img_height / 2,
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.width = sensor->frame_width,
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.height = sensor->frame_height/2,
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.plane_stride = stride,
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.slice_height = uv_height,
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};
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@ -740,7 +737,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
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bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
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if (!is_raw) {
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if (init) {
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buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
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buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
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} else {
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buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
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}
|
||||
@ -847,14 +844,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
|
||||
io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
|
||||
io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
|
||||
io_cfg[0].planes[0] = (struct cam_plane_cfg){
|
||||
.width = buf.out_img_width,
|
||||
.height = buf.out_img_height,
|
||||
.width = sensor->frame_width,
|
||||
.height = sensor->frame_height,
|
||||
.plane_stride = stride,
|
||||
.slice_height = y_height,
|
||||
};
|
||||
io_cfg[0].planes[1] = (struct cam_plane_cfg){
|
||||
.width = buf.out_img_width,
|
||||
.height = buf.out_img_height / 2,
|
||||
.width = sensor->frame_width,
|
||||
.height = sensor->frame_height/2,
|
||||
.plane_stride = stride,
|
||||
.slice_height = uv_height,
|
||||
};
|
||||
@ -996,9 +993,6 @@ bool SpectraCamera::openSensor() {
|
||||
LOGD("-- Probing sensor %d", cc.camera_num);
|
||||
|
||||
auto init_sensor_lambda = [this](SensorInfo *s) {
|
||||
if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
|
||||
((OS04C10*)s)->ife_downscale_configure();
|
||||
}
|
||||
sensor.reset(s);
|
||||
return (sensors_init() == 0);
|
||||
};
|
||||
@ -1071,8 +1065,8 @@ void SpectraCamera::configISP() {
|
||||
.data[0] = (struct cam_isp_out_port_info){
|
||||
.res_type = CAM_ISP_IFE_OUT_RES_FULL,
|
||||
.format = CAM_FORMAT_NV12,
|
||||
.width = buf.out_img_width,
|
||||
.height = buf.out_img_height + sensor->extra_height,
|
||||
.width = sensor->frame_width,
|
||||
.height = sensor->frame_height + sensor->extra_height,
|
||||
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
|
||||
},
|
||||
};
|
||||
@ -1147,8 +1141,8 @@ void SpectraCamera::configICP() {
|
||||
},
|
||||
.out_res[0] = (struct cam_icp_res_info){
|
||||
.format = 0x3, // YUV420NV12
|
||||
.width = buf.out_img_width,
|
||||
.height = buf.out_img_height,
|
||||
.width = sensor->frame_width,
|
||||
.height = sensor->frame_height,
|
||||
.fps = 20,
|
||||
},
|
||||
};
|
||||
|
||||
@ -20,17 +20,6 @@ const uint32_t os04c10_analog_gains_reg[] = {
|
||||
|
||||
} // namespace
|
||||
|
||||
void OS04C10::ife_downscale_configure() {
|
||||
out_scale = 2;
|
||||
|
||||
pixel_size_mm = 0.002;
|
||||
frame_width = 2688;
|
||||
frame_height = 1520;
|
||||
exposure_time_max = 2352;
|
||||
|
||||
init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
|
||||
}
|
||||
|
||||
OS04C10::OS04C10() {
|
||||
image_sensor = cereal::FrameData::ImageSensor::OS04C10;
|
||||
bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
|
||||
|
||||
@ -88,6 +88,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x37c7, 0xa8},
|
||||
{0x37da, 0x11},
|
||||
{0x381f, 0x08},
|
||||
// {0x3829, 0x03},
|
||||
// {0x3832, 0x00},
|
||||
{0x3881, 0x00},
|
||||
{0x3888, 0x04},
|
||||
{0x388b, 0x00},
|
||||
@ -197,6 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x370b, 0x48},
|
||||
{0x370c, 0x01},
|
||||
{0x370f, 0x00},
|
||||
{0x3714, 0x28},
|
||||
{0x3716, 0x04},
|
||||
{0x3719, 0x11},
|
||||
{0x371a, 0x1e},
|
||||
@ -228,6 +231,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x37bd, 0x01},
|
||||
{0x37bf, 0x26},
|
||||
{0x37c0, 0x11},
|
||||
{0x37c2, 0x14},
|
||||
{0x37cd, 0x19},
|
||||
{0x37e0, 0x08},
|
||||
{0x37e6, 0x04},
|
||||
@ -237,9 +241,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x37d8, 0x02},
|
||||
{0x37e2, 0x10},
|
||||
{0x3739, 0x10},
|
||||
{0x3662, 0x08},
|
||||
{0x37e4, 0x20},
|
||||
{0x37e3, 0x08},
|
||||
{0x37d9, 0x04},
|
||||
{0x4040, 0x00},
|
||||
{0x4041, 0x03},
|
||||
{0x4008, 0x01},
|
||||
{0x4009, 0x06},
|
||||
|
||||
// FSIN
|
||||
{0x3002, 0x22},
|
||||
@ -260,11 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x3802, 0x00}, {0x3803, 0x00},
|
||||
{0x3804, 0x0a}, {0x3805, 0x8f},
|
||||
{0x3806, 0x05}, {0x3807, 0xff},
|
||||
{0x3808, 0x05}, {0x3809, 0x40},
|
||||
{0x380a, 0x02}, {0x380b, 0xf8},
|
||||
{0x3811, 0x08},
|
||||
{0x3813, 0x08},
|
||||
{0x3814, 0x03},
|
||||
{0x3815, 0x01},
|
||||
{0x3816, 0x03},
|
||||
{0x3817, 0x01},
|
||||
|
||||
{0x380c, 0x0b}, {0x380d, 0xac}, // HTS
|
||||
{0x380e, 0x06}, {0x380f, 0x9c}, // VTS
|
||||
|
||||
{0x3820, 0xb3},
|
||||
{0x3821, 0x01},
|
||||
{0x3880, 0x00},
|
||||
{0x3882, 0x20},
|
||||
{0x3c91, 0x0b},
|
||||
@ -313,40 +331,4 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
// r
|
||||
{0x5104, 0x08}, {0x5105, 0xd6},
|
||||
{0x5144, 0x08}, {0x5145, 0xd6},
|
||||
|
||||
{0x3714, 0x28},
|
||||
{0x37c2, 0x14},
|
||||
{0x3662, 0x08},
|
||||
{0x37d9, 0x04},
|
||||
{0x4041, 0x03},
|
||||
{0x4008, 0x01},
|
||||
{0x4009, 0x06},
|
||||
{0x3808, 0x05}, {0x3809, 0x40},
|
||||
{0x380a, 0x02}, {0x380b, 0xf8},
|
||||
{0x3814, 0x03},
|
||||
{0x3816, 0x03},
|
||||
{0x380c, 0x0b}, {0x380d, 0xac}, // HTS
|
||||
{0x380e, 0x06}, {0x380f, 0x9c}, // VTS
|
||||
{0x3820, 0xb3},
|
||||
{0x3821, 0x01},
|
||||
};
|
||||
|
||||
const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
|
||||
// OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
|
||||
{0x3829, 0x03},
|
||||
{0x3714, 0x24},
|
||||
{0x37c2, 0x04},
|
||||
{0x3662, 0x10},
|
||||
{0x37d9, 0x08},
|
||||
{0x4041, 0x07},
|
||||
{0x4008, 0x02},
|
||||
{0x4009, 0x0d},
|
||||
{0x3808, 0x0a}, {0x3809, 0x80},
|
||||
{0x380a, 0x05}, {0x380b, 0xf0},
|
||||
{0x3814, 0x01},
|
||||
{0x3816, 0x01},
|
||||
{0x380c, 0x08}, {0x380d, 0x5c}, // HTS
|
||||
{0x380e, 0x09}, {0x380f, 0x38}, // VTS
|
||||
{0x3820, 0xb0},
|
||||
{0x3821, 0x00},
|
||||
};
|
||||
|
||||
@ -29,7 +29,6 @@ public:
|
||||
uint32_t frame_stride;
|
||||
uint32_t frame_offset = 0;
|
||||
uint32_t extra_height = 0;
|
||||
int out_scale = 1;
|
||||
int registers_offset = -1;
|
||||
int stats_offset = -1;
|
||||
int hdr_offset = -1;
|
||||
@ -110,7 +109,6 @@ public:
|
||||
class OS04C10 : public SensorInfo {
|
||||
public:
|
||||
OS04C10();
|
||||
void ife_downscale_configure();
|
||||
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
|
||||
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
|
||||
int getSlaveAddress(int port) const override;
|
||||
|
||||
@ -83,7 +83,7 @@ def get_default_params():
|
||||
("MapTurnSpeedFactor", "90"),
|
||||
("StoppingAccel", "0"),
|
||||
("StopDistanceCarrot", "550"),
|
||||
("ComfortBrake", "240"),
|
||||
("ComfortBrake", "250"),
|
||||
("JLeadFactor2", "100"),
|
||||
("CruiseButtonMode", "2"),
|
||||
("CruiseButtonTest1", "8"),
|
||||
@ -100,7 +100,7 @@ def get_default_params():
|
||||
("CruiseMaxVals4", "110"),
|
||||
("CruiseMaxVals5", "95"),
|
||||
("CruiseMaxVals6", "80"),
|
||||
("LongTuningKpV", "100"),
|
||||
("LongTuningKpV", "0"),
|
||||
("LongTuningKiV", "0"),
|
||||
("LongTuningKf", "100"),
|
||||
("LongActuatorDelay", "20"),
|
||||
|
||||
@ -9,7 +9,7 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
# Constants
|
||||
PROGRESS_BAR_WIDTH = 1000
|
||||
PROGRESS_BAR_HEIGHT = 20
|
||||
ROTATION_TIME_SECONDS = 1.0 # Time for one full circle
|
||||
DEGREES_PER_SECOND = 360.0 # one full rotation per second
|
||||
MARGIN = 200
|
||||
TEXTURE_SIZE = 360
|
||||
FONT_SIZE = 80
|
||||
@ -26,21 +26,25 @@ class Spinner:
|
||||
self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
|
||||
self._rotation = 0.0
|
||||
self._text: str = ""
|
||||
self._progress: int | None = None
|
||||
self._lock = threading.Lock()
|
||||
|
||||
def set_text(self, text: str) -> None:
|
||||
with self._lock:
|
||||
self._text = text
|
||||
if text.isdigit():
|
||||
self._progress = clamp(int(text), 0, 100)
|
||||
self._text = ""
|
||||
else:
|
||||
self._progress = None
|
||||
self._text = text
|
||||
|
||||
def render(self):
|
||||
center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
|
||||
spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
|
||||
comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
|
||||
|
||||
fps = rl.get_fps()
|
||||
if fps > 0:
|
||||
degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
|
||||
self._rotation = (self._rotation + degrees_per_frame) % 360.0
|
||||
delta_time = rl.get_frame_time()
|
||||
self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
|
||||
|
||||
# Draw rotating spinner and static comma logo
|
||||
rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
|
||||
@ -49,23 +53,21 @@ class Spinner:
|
||||
rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
|
||||
|
||||
# Display progress bar or text based on user input
|
||||
text = None
|
||||
y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
|
||||
with self._lock:
|
||||
progress = self._progress
|
||||
text = self._text
|
||||
|
||||
if text:
|
||||
y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
|
||||
if text.isdigit():
|
||||
progress = clamp(int(text), 0, 100)
|
||||
bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
|
||||
rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
|
||||
if progress is not None:
|
||||
bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
|
||||
rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
|
||||
|
||||
bar.width *= progress / 100.0
|
||||
rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
|
||||
else:
|
||||
text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
|
||||
rl.draw_text_ex(gui_app.font(), text,
|
||||
rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
|
||||
bar.width *= progress / 100.0
|
||||
rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
|
||||
elif text:
|
||||
text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
|
||||
rl.draw_text_ex(gui_app.font(), text,
|
||||
rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
import re
|
||||
import pyray as rl
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.lib.button import gui_button, ButtonStyle
|
||||
@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
|
||||
MARGIN = 50
|
||||
SPACING = 50
|
||||
FONT_SIZE = 60
|
||||
LINE_HEIGHT = 64
|
||||
FONT_SIZE = 72
|
||||
LINE_HEIGHT = 80
|
||||
BUTTON_SIZE = rl.Vector2(310, 160)
|
||||
|
||||
DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
|
||||
@ -16,18 +17,24 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
|
||||
|
||||
def wrap_text(text, font_size, max_width):
|
||||
lines = []
|
||||
current_line = ""
|
||||
font = gui_app.font()
|
||||
|
||||
for word in text.split():
|
||||
test_line = current_line + word + " "
|
||||
if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
|
||||
current_line = test_line
|
||||
else:
|
||||
for paragraph in text.split("\n"):
|
||||
if not paragraph.strip():
|
||||
lines.append("")
|
||||
continue
|
||||
indent = re.match(r"^\s*", paragraph).group()
|
||||
current_line = indent
|
||||
for word in paragraph.split():
|
||||
test_line = current_line + word + " "
|
||||
if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
|
||||
current_line = test_line
|
||||
else:
|
||||
lines.append(current_line)
|
||||
current_line = word + " "
|
||||
current_line = current_line.rstrip()
|
||||
if current_line:
|
||||
lines.append(current_line)
|
||||
current_line = word + " "
|
||||
if current_line:
|
||||
lines.append(current_line)
|
||||
|
||||
return lines
|
||||
|
||||
@ -45,7 +52,7 @@ class TextWindow:
|
||||
position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
|
||||
if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
|
||||
continue
|
||||
rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
|
||||
rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
|
||||
rl.end_scissor_mode()
|
||||
|
||||
button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
|
||||
|
||||
197
system/ui/updater.py
Executable file
197
system/ui/updater.py
Executable file
@ -0,0 +1,197 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import subprocess
|
||||
import threading
|
||||
import pyray as rl
|
||||
from enum import IntEnum
|
||||
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.button import gui_button, ButtonStyle
|
||||
from openpilot.system.ui.lib.label import gui_text_box, gui_label
|
||||
|
||||
# Constants
|
||||
MARGIN = 50
|
||||
BUTTON_HEIGHT = 160
|
||||
BUTTON_WIDTH = 400
|
||||
PROGRESS_BAR_HEIGHT = 72
|
||||
TITLE_FONT_SIZE = 80
|
||||
BODY_FONT_SIZE = 65
|
||||
BACKGROUND_COLOR = rl.BLACK
|
||||
PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
|
||||
PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
|
||||
|
||||
|
||||
class Screen(IntEnum):
|
||||
PROMPT = 0
|
||||
WIFI = 1
|
||||
PROGRESS = 2
|
||||
|
||||
|
||||
class Updater:
|
||||
def __init__(self, updater_path, manifest_path):
|
||||
self.updater = updater_path
|
||||
self.manifest = manifest_path
|
||||
self.current_screen = Screen.PROMPT
|
||||
|
||||
self.progress_value = 0
|
||||
self.progress_text = "Loading..."
|
||||
self.show_reboot_button = False
|
||||
self.process = None
|
||||
self.update_thread = None
|
||||
|
||||
def install_update(self):
|
||||
self.current_screen = Screen.PROGRESS
|
||||
self.progress_value = 0
|
||||
self.progress_text = "Downloading..."
|
||||
self.show_reboot_button = False
|
||||
|
||||
# Start the update process in a separate thread
|
||||
self.update_thread = threading.Thread(target=self._run_update_process)
|
||||
self.update_thread.daemon = True
|
||||
self.update_thread.start()
|
||||
|
||||
def _run_update_process(self):
|
||||
# TODO: just import it and run in a thread without a subprocess
|
||||
cmd = [self.updater, "--swap", self.manifest]
|
||||
self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
|
||||
text=True, bufsize=1, universal_newlines=True)
|
||||
|
||||
for line in self.process.stdout:
|
||||
parts = line.strip().split(":")
|
||||
if len(parts) == 2:
|
||||
self.progress_text = parts[0]
|
||||
try:
|
||||
self.progress_value = int(float(parts[1]))
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
exit_code = self.process.wait()
|
||||
if exit_code == 0:
|
||||
HARDWARE.reboot()
|
||||
else:
|
||||
self.progress_text = "Update failed"
|
||||
self.show_reboot_button = True
|
||||
|
||||
def render_prompt_screen(self):
|
||||
# Title
|
||||
title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE)
|
||||
gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
|
||||
|
||||
# Description
|
||||
desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \
|
||||
The download size is approximately 1GB."
|
||||
desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3)
|
||||
gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
|
||||
|
||||
# Buttons at the bottom
|
||||
button_y = gui_app.height - MARGIN - BUTTON_HEIGHT
|
||||
button_width = (gui_app.width - MARGIN * 3) // 2
|
||||
|
||||
# WiFi button
|
||||
wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
|
||||
if gui_button(wifi_button_rect, "Connect to Wi-Fi"):
|
||||
self.current_screen = Screen.WIFI
|
||||
return # Return to avoid processing other buttons after screen change
|
||||
|
||||
# Install button
|
||||
install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
|
||||
if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY):
|
||||
self.install_update()
|
||||
return # Return to avoid further processing after action
|
||||
|
||||
def render_wifi_screen(self):
|
||||
# Title and back button
|
||||
title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60)
|
||||
gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD)
|
||||
|
||||
back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
|
||||
if gui_button(back_button_rect, "Back"):
|
||||
self.current_screen = Screen.PROMPT
|
||||
return # Return to avoid processing other interactions after screen change
|
||||
|
||||
# Draw placeholder for WiFi implementation
|
||||
placeholder_rect = rl.Rectangle(
|
||||
MARGIN,
|
||||
title_rect.y + title_rect.height + MARGIN,
|
||||
gui_app.width - MARGIN * 2,
|
||||
gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT
|
||||
)
|
||||
|
||||
# Draw rounded rectangle background
|
||||
rl.draw_rectangle_rounded(
|
||||
placeholder_rect,
|
||||
0.1,
|
||||
10,
|
||||
rl.Color(41, 41, 41, 255)
|
||||
)
|
||||
|
||||
# Draw placeholder text
|
||||
placeholder_text = "WiFi Implementation Placeholder"
|
||||
text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1)
|
||||
text_pos = rl.Vector2(
|
||||
placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2,
|
||||
placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2
|
||||
)
|
||||
rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE)
|
||||
|
||||
# Draw instructions
|
||||
instructions_text = "Real WiFi functionality would be implemented here"
|
||||
instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1)
|
||||
instructions_pos = rl.Vector2(
|
||||
placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2,
|
||||
text_pos.y + text_size.y + 20
|
||||
)
|
||||
rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY)
|
||||
|
||||
def render_progress_screen(self):
|
||||
title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100)
|
||||
gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
|
||||
|
||||
# Progress bar
|
||||
bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
|
||||
rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
|
||||
|
||||
# Calculate the width of the progress chunk
|
||||
progress_width = (bar_rect.width * self.progress_value) / 100
|
||||
if progress_width > 0:
|
||||
progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
|
||||
rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
|
||||
|
||||
# Show reboot button if needed
|
||||
if self.show_reboot_button:
|
||||
reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
|
||||
if gui_button(reboot_rect, "Reboot"):
|
||||
# Return True to signal main loop to exit before rebooting
|
||||
HARDWARE.reboot()
|
||||
return
|
||||
|
||||
def render(self):
|
||||
if self.current_screen == Screen.PROMPT:
|
||||
self.render_prompt_screen()
|
||||
elif self.current_screen == Screen.WIFI:
|
||||
self.render_wifi_screen()
|
||||
elif self.current_screen == Screen.PROGRESS:
|
||||
self.render_progress_screen()
|
||||
|
||||
|
||||
def main():
|
||||
if len(sys.argv) < 3:
|
||||
print("Usage: updater.py <updater_path> <manifest_path>")
|
||||
sys.exit(1)
|
||||
|
||||
updater_path = sys.argv[1]
|
||||
manifest_path = sys.argv[2]
|
||||
|
||||
try:
|
||||
gui_app.init_window("System Update")
|
||||
updater = Updater(updater_path, manifest_path)
|
||||
for _ in gui_app.render():
|
||||
updater.render()
|
||||
finally:
|
||||
# Make sure we clean up even if there's an error
|
||||
gui_app.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Loading…
x
Reference in New Issue
Block a user