Ambient light calibration parameters on persist partition (#1429)
* WIP: light sensor persistent params * fix params writing * Persistent params argument in C params lib. Fixed symlink flow * Removed debug prints * fix boardd * fix ui * remove debug printpull/1479/head
robbederks
GitHub
parent
aef01f4bdf
commit
71bebc4fca
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@ -95,7 +95,7 @@ void *safety_setter_thread(void *s) {
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// switch to SILENT when CarVin param is read
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while (1) {
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if (do_exit) return NULL;
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const int result = read_db_value(NULL, "CarVin", &value_vin, &value_vin_sz);
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const int result = read_db_value("CarVin", &value_vin, &value_vin_sz);
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if (value_vin_sz > 0) {
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// sanity check VIN format
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assert(value_vin_sz == 17);
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@ -118,7 +118,7 @@ void *safety_setter_thread(void *s) {
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while (1) {
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if (do_exit) return NULL;
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const int result = read_db_value(NULL, "CarParams", &value, &value_sz);
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const int result = read_db_value("CarParams", &value, &value_sz);
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if (value_sz > 0) break;
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usleep(100*1000);
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}
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@ -183,13 +183,13 @@ bool usb_connect() {
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err2 = libusb_control_transfer(dev_handle, 0xc0, 0xd4, 0, 0, fw_sig_buf + 64, 64, TIMEOUT);
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if ((err == 64) && (err2 == 64)) {
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printf("FW signature read\n");
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write_db_value(NULL, "PandaFirmware", (const char *)fw_sig_buf, 128);
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write_db_value("PandaFirmware", (const char *)fw_sig_buf, 128);
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for (size_t i = 0; i < 8; i++){
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fw_sig_hex_buf[2*i] = NIBBLE_TO_HEX(fw_sig_buf[i] >> 4);
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fw_sig_hex_buf[2*i+1] = NIBBLE_TO_HEX(fw_sig_buf[i] & 0xF);
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}
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write_db_value(NULL, "PandaFirmwareHex", (const char *)fw_sig_hex_buf, 16);
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write_db_value("PandaFirmwareHex", (const char *)fw_sig_hex_buf, 16);
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}
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else { goto fail; }
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@ -199,7 +199,7 @@ bool usb_connect() {
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if (err > 0) {
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serial = (const char *)serial_buf;
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serial_sz = strnlen(serial, err);
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write_db_value(NULL, "PandaDongleId", serial, serial_sz);
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write_db_value("PandaDongleId", serial, serial_sz);
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printf("panda serial: %.*s\n", serial_sz, serial);
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}
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else { goto fail; }
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@ -418,7 +418,7 @@ void can_health(PubSocket *publisher) {
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if ((no_ignition_exp || (voltage_f < VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) {
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char *disable_power_down = NULL;
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size_t disable_power_down_sz = 0;
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const int result = read_db_value(NULL, "DisablePowerDown", &disable_power_down, &disable_power_down_sz);
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const int result = read_db_value("DisablePowerDown", &disable_power_down, &disable_power_down_sz);
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if (disable_power_down_sz != 1 || disable_power_down[0] != '1') {
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printf("TURN OFF CHARGING!\n");
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pthread_mutex_lock(&usb_lock);
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@ -456,9 +456,9 @@ void can_health(PubSocket *publisher) {
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// clear VIN, CarParams, and set new safety on car start
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if (ignition && !ignition_last) {
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int result = delete_db_value(NULL, "CarVin");
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int result = delete_db_value("CarVin");
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assert((result == 0) || (result == ERR_NO_VALUE));
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result = delete_db_value(NULL, "CarParams");
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result = delete_db_value("CarParams");
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assert((result == 0) || (result == ERR_NO_VALUE));
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if (!safety_setter_thread_initialized) {
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@ -25,10 +25,16 @@ T* null_coalesce(T* a, T* b) {
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return a != NULL ? a : b;
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}
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static const char* default_params_path = null_coalesce(
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const_cast<const char*>(getenv("PARAMS_PATH")), "/data/params");
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static const char* default_params_path = null_coalesce(const_cast<const char*>(getenv("PARAMS_PATH")), "/data/params");
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#ifdef QCOM
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static const char* persistent_params_path = null_coalesce(const_cast<const char*>(getenv("PERSISTENT_PARAMS_PATH")), "/persist/comma/params");
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#else
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static const char* persistent_params_path = default_params_path;
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#endif
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} //namespace
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} // namespace
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static int fsync_dir(const char* path){
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int result = 0;
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@ -57,8 +63,15 @@ static int fsync_dir(const char* path){
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}
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}
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int write_db_value(const char* params_path, const char* key, const char* value,
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size_t value_size) {
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static int ensure_dir_exists(const char* path) {
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struct stat st;
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if (stat(path, &st) == -1) {
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return mkdir(path, 0700);
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}
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return 0;
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}
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int write_db_value(const char* key, const char* value, size_t value_size, bool persistent_param) {
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// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
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// 1) Create temp file
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// 2) Write data to temp file
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@ -71,10 +84,59 @@ int write_db_value(const char* params_path, const char* key, const char* value,
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int result;
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char tmp_path[1024];
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char path[1024];
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char *tmp_dir;
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ssize_t bytes_written;
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const char* params_path = persistent_param ? persistent_params_path : default_params_path;
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if (params_path == NULL) {
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params_path = default_params_path;
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// Make sure params path exists
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result = ensure_dir_exists(params_path);
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if (result < 0) {
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goto cleanup;
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}
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result = snprintf(path, sizeof(path), "%s/d", params_path);
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if (result < 0) {
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goto cleanup;
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}
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// See if the symlink exists, otherwise create it
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struct stat st;
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if (stat(path, &st) == -1) {
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// Create temp folder
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result = snprintf(path, sizeof(path), "%s/.tmp_XXXXXX", params_path);
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if (result < 0) {
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goto cleanup;
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}
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tmp_dir = mkdtemp(path);
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if (tmp_dir == NULL){
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goto cleanup;
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}
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// Set permissions
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result = chmod(tmp_dir, 0777);
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if (result < 0) {
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goto cleanup;
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}
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// Symlink it to temp link
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result = snprintf(tmp_path, sizeof(tmp_path), "%s.link", tmp_dir);
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if (result < 0) {
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goto cleanup;
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}
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result = symlink(tmp_dir, tmp_path);
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if (result < 0) {
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goto cleanup;
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}
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// Move symlink to <params>/d
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result = snprintf(path, sizeof(path), "%s/d", params_path);
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if (result < 0) {
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goto cleanup;
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}
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result = rename(tmp_path, path);
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if (result < 0) {
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goto cleanup;
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}
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}
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// Write value to temp.
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@ -96,7 +158,7 @@ int write_db_value(const char* params_path, const char* key, const char* value,
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if (result < 0) {
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goto cleanup;
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}
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lock_fd = open(path, 0);
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lock_fd = open(path, O_CREAT);
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// Build key path
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result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
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@ -153,21 +215,18 @@ cleanup:
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return result;
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}
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int delete_db_value(const char* params_path, const char* key) {
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int delete_db_value(const char* key, bool persistent_param) {
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int lock_fd = -1;
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int result;
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char path[1024];
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if (params_path == NULL) {
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params_path = default_params_path;
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}
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const char* params_path = persistent_param ? persistent_params_path : default_params_path;
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// Build lock path, and open lockfile
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result = snprintf(path, sizeof(path), "%s/.lock", params_path);
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if (result < 0) {
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goto cleanup;
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}
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lock_fd = open(path, 0);
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lock_fd = open(path, O_CREAT);
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// Take lock.
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result = flock(lock_fd, LOCK_EX);
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@ -207,15 +266,11 @@ cleanup:
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return result;
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}
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int read_db_value(const char* params_path, const char* key, char** value,
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size_t* value_sz) {
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int read_db_value(const char* key, char** value, size_t* value_sz, bool persistent_param) {
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int lock_fd = -1;
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int result;
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char path[1024];
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if (params_path == NULL) {
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params_path = default_params_path;
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}
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const char* params_path = persistent_param ? persistent_params_path : default_params_path;
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result = snprintf(path, sizeof(path), "%s/.lock", params_path);
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if (result < 0) {
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@ -253,10 +308,9 @@ cleanup:
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return result;
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}
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void read_db_value_blocking(const char* params_path, const char* key,
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char** value, size_t* value_sz) {
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void read_db_value_blocking(const char* key, char** value, size_t* value_sz, bool persistent_param) {
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while (1) {
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const int result = read_db_value(params_path, key, value, value_sz);
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const int result = read_db_value(key, value, value_sz, persistent_param);
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if (result == 0) {
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return;
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} else {
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@ -266,12 +320,9 @@ void read_db_value_blocking(const char* params_path, const char* key,
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}
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}
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int read_db_all(const char* params_path, std::map<std::string, std::string> *params) {
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int read_db_all(std::map<std::string, std::string> *params, bool persistent_param) {
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int err = 0;
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if (params_path == NULL) {
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params_path = default_params_path;
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}
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const char* params_path = persistent_param ? persistent_params_path : default_params_path;
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std::string lock_path = util::string_format("%s/.lock", params_path);
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@ -9,30 +9,28 @@ extern "C" {
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#define ERR_NO_VALUE -33
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int write_db_value(const char* params_path, const char* key, const char* value,
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size_t value_size);
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int write_db_value(const char* key, const char* value, size_t value_size, bool persistent_param = false);
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// Reads a value from the params database.
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// Inputs:
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// params_path: The path of the database, or NULL to use the default.
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// key: The key to read.
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// value: A pointer where a newly allocated string containing the db value will
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// be written.
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// value_sz: A pointer where the size of value will be written. Does not
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// include the NULL terminator.
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// persistent_param: Boolean indicating if the param store in the /persist partition is to be used.
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// e.g. for sensor calibration files. Will not be cleared after wipe or re-install.
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//
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// Returns: Negative on failure, otherwise 0.
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int read_db_value(const char* params_path, const char* key, char** value,
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size_t* value_sz);
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int read_db_value(const char* key, char** value, size_t* value_sz, bool persistent_param = false);
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// Delete a value from the params database.
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// Inputs are the same as read_db_value, without value and value_sz.
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int delete_db_value(const char* params_path, const char* key);
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int delete_db_value(const char* key, bool persistent_param = false);
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// Reads a value from the params database, blocking until successful.
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// Inputs are the same as read_db_value.
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void read_db_value_blocking(const char* params_path, const char* key,
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char** value, size_t* value_sz);
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void read_db_value_blocking(const char* key, char** value, size_t* value_sz, bool persistent_param = false);
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#ifdef __cplusplus
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} // extern "C"
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@ -41,7 +39,7 @@ void read_db_value_blocking(const char* params_path, const char* key,
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#ifdef __cplusplus
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#include <map>
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#include <string>
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int read_db_all(const char* params_path, std::map<std::string, std::string> *params);
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int read_db_all(std::map<std::string, std::string> *params, bool persistent_param = false);
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#endif
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#endif // _SELFDRIVE_COMMON_PARAMS_H_
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@ -51,7 +51,7 @@ int main(int argc, char *argv[]) {
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LOGW("waiting for params to set vehicle model");
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while (true) {
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read_db_value(NULL, "CarParams", &value, &value_sz);
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read_db_value("CarParams", &value, &value_sz);
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if (value_sz > 0) break;
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usleep(100*1000);
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}
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@ -66,7 +66,7 @@ int main(int argc, char *argv[]) {
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cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
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// Read params from previous run
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const int result = read_db_value(NULL, "LiveParameters", &value, &value_sz);
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const int result = read_db_value("LiveParameters", &value, &value_sz);
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std::string fingerprint = car_params.getCarFingerprint();
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std::string vin = car_params.getCarVin();
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@ -168,7 +168,7 @@ int main(int argc, char *argv[]) {
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std::string out = json.dump();
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std::async(std::launch::async,
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[out]{
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write_db_value(NULL, "LiveParameters", out.c_str(), out.length());
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write_db_value("LiveParameters", out.c_str(), out.length());
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});
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}
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}
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@ -95,7 +95,7 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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if (front) {
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char *value;
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const int result = read_db_value(NULL, "RecordFront", &value, NULL);
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const int result = read_db_value("RecordFront", &value, NULL);
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if (result != 0) return;
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if (value[0] != '1') { free(value); return; }
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free(value);
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@ -459,32 +459,32 @@ kj::Array<capnp::word> gen_init_data() {
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char* git_commit = NULL;
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size_t size;
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read_db_value(NULL, "GitCommit", &git_commit, &size);
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read_db_value("GitCommit", &git_commit, &size);
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if (git_commit) {
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init.setGitCommit(capnp::Text::Reader(git_commit, size));
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}
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char* git_branch = NULL;
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read_db_value(NULL, "GitBranch", &git_branch, &size);
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read_db_value("GitBranch", &git_branch, &size);
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if (git_branch) {
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init.setGitBranch(capnp::Text::Reader(git_branch, size));
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}
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char* git_remote = NULL;
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read_db_value(NULL, "GitRemote", &git_remote, &size);
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read_db_value("GitRemote", &git_remote, &size);
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if (git_remote) {
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init.setGitRemote(capnp::Text::Reader(git_remote, size));
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}
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char* passive = NULL;
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read_db_value(NULL, "Passive", &passive, NULL);
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read_db_value("Passive", &passive, NULL);
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init.setPassive(passive && strlen(passive) && passive[0] == '1');
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{
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// log params
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std::map<std::string, std::string> params;
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read_db_all(NULL, ¶ms);
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read_db_all(¶ms);
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auto lparams = init.initParams().initEntries(params.size());
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int i = 0;
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for (auto& kv : params) {
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@ -56,7 +56,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
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s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
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char *string;
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const int result = read_db_value(NULL, "IsRHD", &string, NULL);
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const int result = read_db_value("IsRHD", &string, NULL);
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if (result == 0) {
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bool is_rhd = string[0] == '1';
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free(string);
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@ -118,7 +118,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
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}
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static void handle_driver_view_touch(UIState *s, int touch_x, int touch_y) {
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int err = write_db_value(NULL, "IsDriverViewEnabled", "0", 1);
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int err = write_db_value("IsDriverViewEnabled", "0", 1);
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}
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static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
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@ -138,27 +138,28 @@ static void set_do_exit(int sig) {
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do_exit = 1;
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}
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static void read_param_bool(bool* param, const char* param_name) {
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static void read_param_bool(bool* param, const char* param_name, bool persistent_param = false) {
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char *s;
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const int result = read_db_value(NULL, param_name, &s, NULL);
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const int result = read_db_value(param_name, &s, NULL, persistent_param);
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if (result == 0) {
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*param = s[0] == '1';
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free(s);
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}
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}
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static void read_param_float(float* param, const char* param_name) {
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static int read_param_float(float* param, const char* param_name, bool persistent_param = false) {
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char *s;
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const int result = read_db_value(NULL, param_name, &s, NULL);
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const int result = read_db_value(param_name, &s, NULL, persistent_param);
|
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if (result == 0) {
|
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*param = strtod(s, NULL);
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free(s);
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||||
}
|
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return result;
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}
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||||
|
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static int read_param_uint64(uint64_t* dest, const char* param_name) {
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||||
static int read_param_uint64(uint64_t* dest, const char* param_name, bool persistent_param = false) {
|
||||
char *s;
|
||||
const int result = read_db_value(NULL, param_name, &s, NULL);
|
||||
const int result = read_db_value(param_name, &s, NULL, persistent_param);
|
||||
if (result == 0) {
|
||||
*dest = strtoull(s, NULL, 0);
|
||||
free(s);
|
||||
|
|
@ -166,34 +167,40 @@ static int read_param_uint64(uint64_t* dest, const char* param_name) {
|
|||
return result;
|
||||
}
|
||||
|
||||
static void read_param_bool_timeout(bool* param, const char* param_name, int* timeout) {
|
||||
static void read_param_bool_timeout(bool* param, const char* param_name, int* timeout, bool persistent_param = false) {
|
||||
if (*timeout > 0){
|
||||
(*timeout)--;
|
||||
} else {
|
||||
read_param_bool(param, param_name);
|
||||
read_param_bool(param, param_name, persistent_param);
|
||||
*timeout = 2 * UI_FREQ; // 0.5Hz
|
||||
}
|
||||
}
|
||||
|
||||
static void read_param_float_timeout(float* param, const char* param_name, int* timeout) {
|
||||
static void read_param_float_timeout(float* param, const char* param_name, int* timeout, bool persistent_param = false) {
|
||||
if (*timeout > 0){
|
||||
(*timeout)--;
|
||||
} else {
|
||||
read_param_float(param, param_name);
|
||||
read_param_float(param, param_name, persistent_param);
|
||||
*timeout = 2 * UI_FREQ; // 0.5Hz
|
||||
}
|
||||
}
|
||||
|
||||
static int read_param_uint64_timeout(uint64_t* dest, const char* param_name, int* timeout) {
|
||||
static int read_param_uint64_timeout(uint64_t* dest, const char* param_name, int* timeout, bool persistent_param = false) {
|
||||
if (*timeout > 0){
|
||||
(*timeout)--;
|
||||
return 0;
|
||||
} else {
|
||||
return read_param_uint64(dest, param_name);
|
||||
return read_param_uint64(dest, param_name, persistent_param);
|
||||
*timeout = 2 * UI_FREQ; // 0.5Hz
|
||||
}
|
||||
}
|
||||
|
||||
static int write_param_float(float param, const char* param_name, bool persistent_param = false) {
|
||||
char s[16];
|
||||
int size = snprintf(s, sizeof(s), "%f", param);
|
||||
return write_db_value(param_name, s, MIN(size, sizeof(s)), persistent_param);
|
||||
}
|
||||
|
||||
static void update_offroad_layout_timeout(UIState *s, int* timeout) {
|
||||
if (*timeout > 0) {
|
||||
(*timeout)--;
|
||||
|
|
@ -885,10 +892,18 @@ int main(int argc, char* argv[]) {
|
|||
// light sensor scaling params
|
||||
const int LEON = is_leon();
|
||||
|
||||
const float BRIGHTNESS_B = LEON ? 10.0 : 5.0;
|
||||
const float BRIGHTNESS_M = LEON ? 2.6 : 1.3;
|
||||
float brightness_b, brightness_m;
|
||||
int result = read_param_float(&brightness_b, "BRIGHTNESS_B", true);
|
||||
result += read_param_float(&brightness_m, "BRIGHTNESS_M", true);
|
||||
|
||||
float smooth_brightness = BRIGHTNESS_B;
|
||||
if(result != 0){
|
||||
brightness_b = LEON ? 10.0 : 5.0;
|
||||
brightness_m = LEON ? 2.6 : 1.3;
|
||||
write_param_float(brightness_b, "BRIGHTNESS_B", true);
|
||||
write_param_float(brightness_m, "BRIGHTNESS_M", true);
|
||||
}
|
||||
|
||||
float smooth_brightness = brightness_b;
|
||||
|
||||
const int MIN_VOLUME = LEON ? 12 : 9;
|
||||
const int MAX_VOLUME = LEON ? 15 : 12;
|
||||
|
|
@ -912,7 +927,7 @@ int main(int argc, char* argv[]) {
|
|||
double u1 = millis_since_boot();
|
||||
|
||||
// light sensor is only exposed on EONs
|
||||
float clipped_brightness = (s->light_sensor*BRIGHTNESS_M) + BRIGHTNESS_B;
|
||||
float clipped_brightness = (s->light_sensor*brightness_m) + brightness_b;
|
||||
if (clipped_brightness > 512) clipped_brightness = 512;
|
||||
smooth_brightness = clipped_brightness * 0.01 + smooth_brightness * 0.99;
|
||||
if (smooth_brightness > 255) smooth_brightness = 255;
|
||||
|
|
|
|||
Loading…
Reference in New Issue