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test fixes

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This commit is contained in:
firestar5683
2026-04-06 01:03:05 -05:00
parent 447b894aae
commit 1d49528e37
3 changed files with 116 additions and 116 deletions
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selfdrive/ui/mici/onroad/cameraview.py
+79 -79
View File
@@ -37,71 +37,69 @@ void main() {
}
"""
# Choose fragment shader based on platform capabilities
if TICI:
FRAME_FRAGMENT_SHADER = """
#version 300 es
#extension GL_OES_EGL_image_external_essl3 : enable
precision mediump float;
in vec2 fragTexCoord;
uniform samplerExternalOES texture0;
out vec4 fragColor;
uniform int engaged;
uniform int enhance_driver;
FRAME_FRAGMENT_SHADER_EGL = """
#version 300 es
#extension GL_OES_EGL_image_external_essl3 : enable
precision mediump float;
in vec2 fragTexCoord;
uniform samplerExternalOES texture0;
out vec4 fragColor;
uniform int engaged;
uniform int enhance_driver;
void main() {
vec4 color = texture(texture0, fragTexCoord);
if (engaged == 1) {
float gray = dot(color.rgb, vec3(0.299, 0.587, 0.114)); // Luma
color.rgb = mix(vec3(gray), color.rgb, 0.2); // 20% saturation
color.rgb = clamp((color.rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0); // +20% contrast
color.rgb = pow(color.rgb, vec3(1.0/1.28));
fragColor = vec4(color.rgb, color.a);
} else {
color.rgb *= 0.85; // 85% opacity
}
if (enhance_driver == 1) {
float brightness = 1.1;
color.rgb = color.rgb + 0.15;
color.rgb = clamp((color.rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
color.rgb = color.rgb * color.rgb * (3.0 - 2.0 * color.rgb);
color.rgb = pow(color.rgb, vec3(0.8));
}
void main() {
vec4 color = texture(texture0, fragTexCoord);
if (engaged == 1) {
float gray = dot(color.rgb, vec3(0.299, 0.587, 0.114)); // Luma
color.rgb = mix(vec3(gray), color.rgb, 0.2); // 20% saturation
color.rgb = clamp((color.rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0); // +20% contrast
color.rgb = pow(color.rgb, vec3(1.0/1.28));
fragColor = vec4(color.rgb, color.a);
} else {
color.rgb *= 0.85; // 85% opacity
}
"""
else:
FRAME_FRAGMENT_SHADER = VERSION + """
in vec2 fragTexCoord;
uniform sampler2D texture0;
uniform sampler2D texture1;
out vec4 fragColor;
uniform int engaged;
uniform int enhance_driver;
if (enhance_driver == 1) {
float brightness = 1.1;
color.rgb = color.rgb + 0.15;
color.rgb = clamp((color.rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
color.rgb = color.rgb * color.rgb * (3.0 - 2.0 * color.rgb);
color.rgb = pow(color.rgb, vec3(0.8));
}
fragColor = vec4(color.rgb, color.a);
}
"""
void main() {
float y = texture(texture0, fragTexCoord).r;
vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
vec3 rgb = vec3(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x);
if (engaged == 1) {
float gray = dot(rgb, vec3(0.299, 0.587, 0.114));
rgb = mix(vec3(gray), rgb, 0.2); // 20% saturation
rgb = clamp((rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0); // +20% contrast
} else {
rgb *= 0.85; // 85% opacity
}
// TODO: the images out of camerad need some more correction and
// the ui should apply a gamma curve for the device display
if (enhance_driver == 1) {
float brightness = 1.1;
rgb = rgb + 0.15;
rgb = clamp((rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
rgb = rgb * rgb * (3.0 - 2.0 * rgb);
rgb = pow(rgb, vec3(0.8));
}
fragColor = vec4(rgb, 1.0);
FRAME_FRAGMENT_SHADER_TEXTURES = VERSION + """
in vec2 fragTexCoord;
uniform sampler2D texture0;
uniform sampler2D texture1;
out vec4 fragColor;
uniform int engaged;
uniform int enhance_driver;
void main() {
float y = texture(texture0, fragTexCoord).r;
vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
vec3 rgb = vec3(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x);
if (engaged == 1) {
float gray = dot(rgb, vec3(0.299, 0.587, 0.114));
rgb = mix(vec3(gray), rgb, 0.2); // 20% saturation
rgb = clamp((rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0); // +20% contrast
} else {
rgb *= 0.85; // 85% opacity
}
"""
// TODO: the images out of camerad need some more correction and
// the ui should apply a gamma curve for the device display
if (enhance_driver == 1) {
float brightness = 1.1;
rgb = rgb + 0.15;
rgb = clamp((rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
rgb = rgb * rgb * (3.0 - 2.0 * rgb);
rgb = pow(rgb, vec3(0.8));
}
fragColor = vec4(rgb, 1.0);
}
"""
class CameraView(Widget):
@@ -120,12 +118,6 @@ class CameraView(Widget):
self._texture_needs_update = True
self.last_connection_attempt: float = 0.0
self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
self._engaged_val = rl.ffi.new("int[1]", [1])
self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
self.frame: VisionBuf | None = None
self.texture_y: rl.Texture | None = None
@@ -136,12 +128,20 @@ class CameraView(Widget):
self.egl_texture: rl.Texture | None = None
self._placeholder_color: rl.Color | None = None
self._use_egl = TICI and init_egl()
# Initialize EGL for zero-copy rendering on TICI
if TICI:
if not init_egl():
raise RuntimeError("Failed to initialize EGL")
fragment_shader = FRAME_FRAGMENT_SHADER_EGL if self._use_egl else FRAME_FRAGMENT_SHADER_TEXTURES
self.shader = rl.load_shader_from_memory(VERTEX_SHADER, fragment_shader)
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not self._use_egl else -1
self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
self._engaged_val = rl.ffi.new("int[1]", [1])
self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
# Keep the UI alive if EGL cannot be used on device startup.
if TICI and not self._use_egl:
cloudlog.warning(f"Failed to initialize EGL for {self._name}; falling back to texture rendering")
elif self._use_egl:
# Create a 1x1 pixel placeholder texture for EGL image binding
temp_image = rl.gen_image_color(1, 1, rl.BLACK)
self.egl_texture = rl.load_texture_from_image(temp_image)
@@ -189,7 +189,7 @@ class CameraView(Widget):
self._clear_textures()
# Clean up EGL texture
if TICI and self.egl_texture:
if self.egl_texture:
rl.unload_texture(self.egl_texture)
self.egl_texture = None
@@ -264,7 +264,7 @@ class CameraView(Widget):
dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
# Render with appropriate method
if TICI:
if self._use_egl:
self._render_egl(src_rect, dst_rect)
else:
self._render_textures(src_rect, dst_rect)
@@ -387,12 +387,12 @@ class CameraView(Widget):
self._initialize_textures()
def _initialize_textures(self):
self._clear_textures()
if not TICI:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
self._clear_textures()
if not self._use_egl:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
def _clear_textures(self):
if self.texture_y and self.texture_y.id:
@@ -404,7 +404,7 @@ class CameraView(Widget):
self.texture_uv = None
# Clean up EGL resources
if TICI:
if self._use_egl:
for data in self.egl_images.values():
destroy_egl_image(data)
self.egl_images = {}
selfdrive/ui/onroad/cameraview.py
+36 -36
View File
@@ -37,32 +37,30 @@ void main() {
}
"""
# Choose fragment shader based on platform capabilities
if TICI:
FRAME_FRAGMENT_SHADER = """
#version 300 es
#extension GL_OES_EGL_image_external_essl3 : enable
precision mediump float;
in vec2 fragTexCoord;
uniform samplerExternalOES texture0;
out vec4 fragColor;
void main() {
vec4 color = texture(texture0, fragTexCoord);
fragColor = vec4(pow(color.rgb, vec3(1.0/1.28)), color.a);
}
"""
else:
FRAME_FRAGMENT_SHADER = VERSION + """
in vec2 fragTexCoord;
uniform sampler2D texture0;
uniform sampler2D texture1;
out vec4 fragColor;
void main() {
float y = texture(texture0, fragTexCoord).r;
vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0);
}
"""
FRAME_FRAGMENT_SHADER_EGL = """
#version 300 es
#extension GL_OES_EGL_image_external_essl3 : enable
precision mediump float;
in vec2 fragTexCoord;
uniform samplerExternalOES texture0;
out vec4 fragColor;
void main() {
vec4 color = texture(texture0, fragTexCoord);
fragColor = vec4(pow(color.rgb, vec3(1.0/1.28)), color.a);
}
"""
FRAME_FRAGMENT_SHADER_TEXTURES = VERSION + """
in vec2 fragTexCoord;
uniform sampler2D texture0;
uniform sampler2D texture1;
out vec4 fragColor;
void main() {
float y = texture(texture0, fragTexCoord).r;
vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0);
}
"""
class CameraView(Widget):
@@ -81,8 +79,6 @@ class CameraView(Widget):
self._texture_needs_update = True
self.last_connection_attempt: float = 0.0
self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
self.frame: VisionBuf | None = None
self.texture_y: rl.Texture | None = None
@@ -93,12 +89,16 @@ class CameraView(Widget):
self.egl_texture: rl.Texture | None = None
self._placeholder_color: rl.Color | None = None
self._use_egl = TICI and init_egl()
# Initialize EGL for zero-copy rendering on TICI
if TICI:
if not init_egl():
raise RuntimeError("Failed to initialize EGL")
fragment_shader = FRAME_FRAGMENT_SHADER_EGL if self._use_egl else FRAME_FRAGMENT_SHADER_TEXTURES
self.shader = rl.load_shader_from_memory(VERTEX_SHADER, fragment_shader)
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not self._use_egl else -1
# Keep the UI alive if EGL cannot be used on device startup.
if TICI and not self._use_egl:
cloudlog.warning(f"Failed to initialize EGL for {self._name}; falling back to texture rendering")
elif self._use_egl:
# Create a 1x1 pixel placeholder texture for EGL image binding
temp_image = rl.gen_image_color(1, 1, rl.BLACK)
self.egl_texture = rl.load_texture_from_image(temp_image)
@@ -146,7 +146,7 @@ class CameraView(Widget):
self._clear_textures()
# Clean up EGL texture
if TICI and self.egl_texture:
if self.egl_texture:
rl.unload_texture(self.egl_texture)
self.egl_texture = None
@@ -220,7 +220,7 @@ class CameraView(Widget):
dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
# Render with appropriate method
if TICI:
if self._use_egl:
self._render_egl(src_rect, dst_rect)
else:
self._render_textures(src_rect, dst_rect)
@@ -337,7 +337,7 @@ class CameraView(Widget):
def _initialize_textures(self):
self._clear_textures()
if not TICI:
if not self._use_egl:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
@@ -353,7 +353,7 @@ class CameraView(Widget):
self.texture_uv = None
# Clean up EGL resources
if TICI:
if self._use_egl:
for data in self.egl_images.values():
destroy_egl_image(data)
self.egl_images = {}
starpilot/common/starpilot_backups.py
+1 -1
View File
@@ -26,7 +26,7 @@ def backup_starpilot(build_metadata, params):
delete_file(backup, report=False)
_, _, free = shutil.disk_usage(STARPILOT_BACKUPS)
minimum_backup_size = params.get("MinimumBackupSize")
minimum_backup_size = params.get_int("MinimumBackupSize", return_default=True, default=0)
if free > minimum_backup_size * maximum_backups:
destination = STARPILOT_BACKUPS / f"{build_metadata.openpilot.git_commit}_{build_metadata.channel}_auto"
create_backup(Path(BASEDIR), destination, "Successfully backed up StarPilot!", "Failed to backup StarPilot...", params, minimum_backup_size, compressed=True)