fix driver camera AE and grey panda deprecation (commaai#2426)

muhammetardayildiz · Oct 28, 2020 · 8369e11 · 8369e11
1 parent 26bccbd
commit 8369e11
Show file tree

Hide file tree

Showing 10 changed files with 26 additions and 12 deletions.
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,5 +1,6 @@
-Version 0.7.10 (2020-10-26)
+Version 0.7.10 (2020-10-29)
 ========================
+ * Grey panda is deprecated, upgrade to comma two or black panda
  * NEOS update: update to Python 3.8.2 and lower CPU frequency
  * Improved thermals due to reduced CPU frequency
  * Update SNPE to 1.41.0

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -95,6 +95,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  fcw @79;
  steerSaturated @80;
  whitePandaUnsupported @81;
+ startupGreyPanda @82;
  belowEngageSpeed @84;
  noGps @85;
  wrongCruiseMode @87;
@@ -112,7 +113,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  calibrationProgressDEPRECATED @47;
  invalidGiraffeHondaDEPRECATED @49;
  canErrorPersistentDEPRECATED @83;
- startupWhitePandaDEPRECATED @82;
  focusRecoverActiveDEPRECATED @86;
  neosUpdateRequiredDEPRECATED @88;
  }

diff --git a/installer/updater/update.json b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
- "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-ba3ecb158edc760beda0d32e0eea4311031e460afa97fc180dc83f76cf512694.zip",
- "ota_hash": "ba3ecb158edc760beda0d32e0eea4311031e460afa97fc180dc83f76cf512694",
- "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-e35dc1939dab4c6c2cbae3f225b07515f1a5c02afb232dc22e93f17c9840499f.img",
+ "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
+ "ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
+ "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
  "recovery_len": 15926572,
- "recovery_hash": "e35dc1939dab4c6c2cbae3f225b07515f1a5c02afb232dc22e93f17c9840499f"
+ "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
 }
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
@@ -27,8 +27,6 @@ function two_init {
  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
 
- # restrict unbound kworkers to first two cores
- #find /sys/devices/virtual/workqueue -name cpumask -exec sh -c 'echo 3 > {}' ';'
 
  # Check for NEOS update
  if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then

diff --git a/launch_env.sh b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
- export REQUIRED_NEOS_VERSION="15"
+ export REQUIRED_NEOS_VERSION="15-1"
 fi
 
 if [ -z "$PASSIVE" ]; then

diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
@@ -293,7 +293,8 @@ void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int
  uint8_t lum = pix_ptr[(y * b->yuv_width) + x];
  lum_binning[lum]++;
  } else {
- const uint8_t *pix = &pix_ptr[y * b->rgb_width * 3 + x * 3];
+ // TODO: should get rid of RGB here
+ const uint8_t *pix = &pix_ptr[y * b->rgb_stride + x * 3];
  unsigned int lum = (unsigned int)(pix[0] + pix[1] + pix[2]);
  lum_binning[std::min(lum / 3, 255u)]++;
  }

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
@@ -14,7 +14,7 @@
 HwType = log.HealthData.HwType
 
 
-def get_startup_event(car_recognized, controller_available):
+def get_startup_event(car_recognized, controller_available, hw_type):
  if comma_remote and tested_branch:
  event = EventName.startup
  else:
@@ -24,6 +24,8 @@ def get_startup_event(car_recognized, controller_available):
  event = EventName.startupNoCar
  elif car_recognized and not controller_available:
  event = EventName.startupNoControl
+ elif hw_type == HwType.greyPanda:
+ event = EventName.startupGreyPanda
  return event
 
 

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -131,7 +131,7 @@ def __init__(self, sm=None, pm=None, can_sock=None):
  self.sm['dMonitoringState'].awarenessStatus = 1.
  self.sm['dMonitoringState'].faceDetected = False
 
- self.startup_event = get_startup_event(car_recognized, controller_available)
+ self.startup_event = get_startup_event(car_recognized, controller_available, hw_type)
 
  if not sounds_available:
  self.events.add(EventName.soundsUnavailable, static=True)

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -252,6 +252,14 @@ def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: boo
  Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
  },
 
+ EventName.startupGreyPanda: {
+ ET.PERMANENT: Alert(
+ "WARNING: Grey panda is deprecated",
+ "Upgrade to comma two or black panda",
+ AlertStatus.userPrompt, AlertSize.mid,
+ Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
+ },
+
  EventName.invalidGiraffeToyota: {
  ET.PERMANENT: Alert(
  "Unsupported Giraffe Configuration",

diff --git a/selfdrive/ui/android/ui.cc b/selfdrive/ui/android/ui.cc
@@ -59,6 +59,10 @@ static void handle_display_state(UIState *s, bool user_input) {
  int display_mode = s->awake ? HWC_POWER_MODE_NORMAL : HWC_POWER_MODE_OFF;
  LOGW("setting display mode %d", display_mode);
  framebuffer_set_power(s->fb, display_mode);
+
+ if (s->awake) {
+ system("service call window 18 i32 1");
+ }
  }
 }