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Compute on-road screen brightness based on camera exposure (#21024)

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* Compute screen brightness based on camera exposure

* fix up scaling

* remove light sensor completely

* fix gain calculation

* cleanup

* remove comment

* bump offroad brightness
old-commit-hash: 23789c9d4ecbeb7a4b7cbecd0d5c231e303544ba
This commit is contained in:
Willem Melching
2021-05-26 21:21:11 +02:00
committed by GitHub
parent 9b54578c9a
commit 6afdeb58f1
1 changed files with 15 additions and 13 deletions
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selfdrive/ui/ui.cc
+15 -13
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@@ -16,7 +16,7 @@
#define BACKLIGHT_DT 0.25
#define BACKLIGHT_TS 2.00
#define BACKLIGHT_OFFROAD 50
#define BACKLIGHT_OFFROAD 75
// Projects a point in car to space to the corresponding point in full frame
@@ -177,9 +177,6 @@ static void update_state(UIState *s) {
}
if (sm.updated("sensorEvents")) {
for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
if (!Hardware::TICI() && sensor.which() == cereal::SensorEventData::LIGHT) {
scene.light_sensor = sensor.getLight();
}
if (!scene.started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
auto accel = sensor.getAcceleration().getV();
if (accel.totalSize().wordCount){ // TODO: sometimes empty lists are received. Figure out why
@@ -193,10 +190,18 @@ static void update_state(UIState *s) {
}
}
}
if (Hardware::TICI() && sm.updated("roadCameraState")) {
if (sm.updated("roadCameraState")) {
auto camera_state = sm["roadCameraState"].getRoadCameraState();
float gain = camera_state.getGainFrac() * (camera_state.getGlobalGain() > 100 ? 2.5 : 1.0) / 10.0;
scene.light_sensor = std::clamp<float>((1023.0 / 1757.0) * (1757.0 - camera_state.getIntegLines()) * (1.0 - gain), 0.0, 1023.0);
float max_lines = Hardware::EON() ? 5408 : 1757;
float gain = camera_state.getGainFrac();
if (Hardware::TICI()) {
// gainFrac can go up to 4, with another 2.5x multiplier based on globalGain. Scale back to 0 - 1
gain *= (camera_state.getGlobalGain() > 100 ? 2.5 : 1.0) / 10.0;
}
scene.light_sensor = std::clamp<float>((1023.0 / max_lines) * (max_lines - camera_state.getIntegLines() * gain), 0.0, 1023.0);
}
scene.started = sm["deviceState"].getDeviceState().getStarted() || scene.driver_view;
}
@@ -273,10 +278,7 @@ QUIState::QUIState(QObject *parent) : QObject(parent) {
ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
"pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
"gpsLocationExternal",
#ifdef QCOM2
"roadCameraState",
#endif
"gpsLocationExternal", "roadCameraState",
});
ui_state.fb_w = vwp_w;
@@ -319,7 +321,7 @@ void QUIState::update() {
Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
brightness_b = Params(true).get<float>("BRIGHTNESS_B").value_or(10.0);
brightness_m = Params(true).get<float>("BRIGHTNESS_M").value_or(0.1);
brightness_m = Params(true).get<float>("BRIGHTNESS_M").value_or(2.6) / 26.0;
}
void Device::update(const UIState &s) {
@@ -345,7 +347,7 @@ void Device::setAwake(bool on, bool reset) {
void Device::updateBrightness(const UIState &s) {
float clipped_brightness = std::min(100.0f, (s.scene.light_sensor * brightness_m) + brightness_b);
if (Hardware::TICI() && !s.scene.started) {
if (!s.scene.started) {
clipped_brightness = BACKLIGHT_OFFROAD;
}