From cdc715fe2098cbbe8c30008510e83b5591d44312 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 19 Feb 2020 10:39:33 -0800 Subject: [PATCH 1/3] apk: revise offroad drive rating images From 241051910a21d0fd4d2ec9436fa7dfd33f87acc7 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 20 Feb 2020 13:41:28 -0800 Subject: [PATCH 2/3] AF: improve general responsiveness (#1137) * sync control with readout; always assume worst * faster recover --- selfdrive/camerad/cameras/camera_qcom.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom.c b/selfdrive/camerad/cameras/camera_qcom.c index ddaa51e34..7e9e845a6 100644 --- a/selfdrive/camerad/cameras/camera_qcom.c +++ b/selfdrive/camerad/cameras/camera_qcom.c @@ -1711,7 +1711,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) { int16_t max_focus = -32767; int avg_focus = 0; // force to max if not able to determine focus for long - const int patience_cnt = 100; + const int patience_cnt = 20; static int nan_cnt = 0; /*printf("FOCUS: "); @@ -1757,7 +1757,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) { nan_cnt = 0; } } else { - s->focus_err = avg_focus; + s->focus_err = max_focus; nan_cnt = 0; } // printf("fe=%f\n", s->focus_err); @@ -2084,7 +2084,6 @@ static void* ops_thread(void* arg) { if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) { if (cmsg.camera_num == 0) { do_autoexposure(&s->rear, cmsg.grey_frac); - do_autofocus(&s->rear); } else { do_autoexposure(&s->front, cmsg.grey_frac); } @@ -2187,6 +2186,7 @@ void cameras_run(DualCameraState *s) { // fwrite(d, c->ss[buffer].bufs[buf_idx].len, sizeof(uint8_t), df); // fclose(df); parse_autofocus(c, d); + do_autofocus(&s->rear); } c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1; ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]); From a68ca97c0f5884af5c05f0ef9ba8e0667d9fb528 Mon Sep 17 00:00:00 2001 From: andyh2 Date: Wed, 19 Feb 2020 23:25:19 -0500 Subject: [PATCH 3/3] apk: Fix permission to read /sdcard/ --- common/apk.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/common/apk.py b/common/apk.py index 32bd2f54c..d77b83f14 100644 --- a/common/apk.py +++ b/common/apk.py @@ -33,10 +33,9 @@ def start_frame(): def set_package_permissions(): pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION") pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE") + pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE") appops_set("ai.comma.plus.offroad", "SU", "allow") appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow") - appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow") - appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow") def appops_set(package, op, mode): system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")