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Ambient light calibration parameters on persist partition (#1429)

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* 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 print
old-commit-hash: 71bebc4fca
vw-mqb-aeb
robbederks 6 years ago committed by GitHub
parent 798e1a8908
commit 5a12fc32e7
7 changed files with 136 additions and 72 deletions
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  1. 16
      selfdrive/boardd/boardd.cc
  2. 107
      selfdrive/common/params.cc
  3. 16
      selfdrive/common/params.h
  4. 6
      selfdrive/locationd/paramsd.cc
  5. 12
      selfdrive/loggerd/loggerd.cc
  6. 2
      selfdrive/modeld/models/driving.cc
  7. 49
      selfdrive/ui/ui.cc

16
selfdrive/boardd/boardd.cc
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@ -95,7 +95,7 @@ void *safety_setter_thread(void *s) {
// switch to SILENT when CarVin param is read // switch to SILENT when CarVin param is read
while (1) { while (1) {
if (do_exit) return NULL; if (do_exit) return NULL;
const int result = read_db_value(NULL, "CarVin", &value_vin, &value_vin_sz); const int result = read_db_value("CarVin", &value_vin, &value_vin_sz);
if (value_vin_sz > 0) { if (value_vin_sz > 0) {
// sanity check VIN format // sanity check VIN format
assert(value_vin_sz == 17); assert(value_vin_sz == 17);
@ -118,7 +118,7 @@ void *safety_setter_thread(void *s) {
while (1) { while (1) {
if (do_exit) return NULL; if (do_exit) return NULL;
const int result = read_db_value(NULL, "CarParams", &value, &value_sz); const int result = read_db_value("CarParams", &value, &value_sz);
if (value_sz > 0) break; if (value_sz > 0) break;
usleep(100*1000); usleep(100*1000);
} }
@ -183,13 +183,13 @@ bool usb_connect() {
err2 = libusb_control_transfer(dev_handle, 0xc0, 0xd4, 0, 0, fw_sig_buf + 64, 64, TIMEOUT); err2 = libusb_control_transfer(dev_handle, 0xc0, 0xd4, 0, 0, fw_sig_buf + 64, 64, TIMEOUT);
if ((err == 64) && (err2 == 64)) { if ((err == 64) && (err2 == 64)) {
printf("FW signature read\n"); printf("FW signature read\n");
write_db_value(NULL, "PandaFirmware", (const char *)fw_sig_buf, 128); write_db_value("PandaFirmware", (const char *)fw_sig_buf, 128);
for (size_t i = 0; i < 8; i++){ for (size_t i = 0; i < 8; i++){
fw_sig_hex_buf[2*i] = NIBBLE_TO_HEX(fw_sig_buf[i] >> 4); fw_sig_hex_buf[2*i] = NIBBLE_TO_HEX(fw_sig_buf[i] >> 4);
fw_sig_hex_buf[2*i+1] = NIBBLE_TO_HEX(fw_sig_buf[i] & 0xF); fw_sig_hex_buf[2*i+1] = NIBBLE_TO_HEX(fw_sig_buf[i] & 0xF);
} }
write_db_value(NULL, "PandaFirmwareHex", (const char *)fw_sig_hex_buf, 16); write_db_value("PandaFirmwareHex", (const char *)fw_sig_hex_buf, 16);
} }
else { goto fail; } else { goto fail; }
@ -199,7 +199,7 @@ bool usb_connect() {
if (err > 0) { if (err > 0) {
serial = (const char *)serial_buf; serial = (const char *)serial_buf;
serial_sz = strnlen(serial, err); serial_sz = strnlen(serial, err);
write_db_value(NULL, "PandaDongleId", serial, serial_sz); write_db_value("PandaDongleId", serial, serial_sz);
printf("panda serial: %.*s\n", serial_sz, serial); printf("panda serial: %.*s\n", serial_sz, serial);
} }
else { goto fail; } else { goto fail; }
@ -418,7 +418,7 @@ void can_health(PubSocket *publisher) {
if ((no_ignition_exp || (voltage_f < VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) { if ((no_ignition_exp || (voltage_f < VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) {
char *disable_power_down = NULL; char *disable_power_down = NULL;
size_t disable_power_down_sz = 0; size_t disable_power_down_sz = 0;
const int result = read_db_value(NULL, "DisablePowerDown", &disable_power_down, &disable_power_down_sz); const int result = read_db_value("DisablePowerDown", &disable_power_down, &disable_power_down_sz);
if (disable_power_down_sz != 1 || disable_power_down[0] != '1') { if (disable_power_down_sz != 1 || disable_power_down[0] != '1') {
printf("TURN OFF CHARGING!\n"); printf("TURN OFF CHARGING!\n");
pthread_mutex_lock(&usb_lock); pthread_mutex_lock(&usb_lock);
@ -456,9 +456,9 @@ void can_health(PubSocket *publisher) {
// clear VIN, CarParams, and set new safety on car start // clear VIN, CarParams, and set new safety on car start
if (ignition && !ignition_last) { if (ignition && !ignition_last) {
int result = delete_db_value(NULL, "CarVin"); int result = delete_db_value("CarVin");
assert((result == 0) || (result == ERR_NO_VALUE)); assert((result == 0) || (result == ERR_NO_VALUE));
result = delete_db_value(NULL, "CarParams"); result = delete_db_value("CarParams");
assert((result == 0) || (result == ERR_NO_VALUE)); assert((result == 0) || (result == ERR_NO_VALUE));
if (!safety_setter_thread_initialized) { if (!safety_setter_thread_initialized) {

107
selfdrive/common/params.cc
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@ -25,10 +25,16 @@ T* null_coalesce(T* a, T* b) {
return a != NULL ? a : b; return a != NULL ? a : b;
} }
static const char* default_params_path = null_coalesce( static const char* default_params_path = null_coalesce(const_cast<const char*>(getenv("PARAMS_PATH")), "/data/params");
const_cast<const char*>(getenv("PARAMS_PATH")), "/data/params");
#ifdef QCOM
static const char* persistent_params_path = null_coalesce(const_cast<const char*>(getenv("PERSISTENT_PARAMS_PATH")), "/persist/comma/params");
#else
static const char* persistent_params_path = default_params_path;
#endif
} //namespace
} // namespace
static int fsync_dir(const char* path){ static int fsync_dir(const char* path){
int result = 0; int result = 0;
@ -57,8 +63,15 @@ static int fsync_dir(const char* path){
} }
} }
int write_db_value(const char* params_path, const char* key, const char* value, static int ensure_dir_exists(const char* path) {
size_t value_size) { struct stat st;
if (stat(path, &st) == -1) {
return mkdir(path, 0700);
}
return 0;
}
int write_db_value(const char* key, const char* value, size_t value_size, bool persistent_param) {
// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/ // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
// 1) Create temp file // 1) Create temp file
// 2) Write data to temp file // 2) Write data to temp file
@ -71,10 +84,59 @@ int write_db_value(const char* params_path, const char* key, const char* value,
int result; int result;
char tmp_path[1024]; char tmp_path[1024];
char path[1024]; char path[1024];
char *tmp_dir;
ssize_t bytes_written; ssize_t bytes_written;
const char* params_path = persistent_param ? persistent_params_path : default_params_path;
// Make sure params path exists
result = ensure_dir_exists(params_path);
if (result < 0) {
goto cleanup;
}
if (params_path == NULL) { result = snprintf(path, sizeof(path), "%s/d", params_path);
params_path = default_params_path; if (result < 0) {
goto cleanup;
}
// See if the symlink exists, otherwise create it
struct stat st;
if (stat(path, &st) == -1) {
// Create temp folder
result = snprintf(path, sizeof(path), "%s/.tmp_XXXXXX", params_path);
if (result < 0) {
goto cleanup;
}
tmp_dir = mkdtemp(path);
if (tmp_dir == NULL){
goto cleanup;
}
// Set permissions
result = chmod(tmp_dir, 0777);
if (result < 0) {
goto cleanup;
}
// Symlink it to temp link
result = snprintf(tmp_path, sizeof(tmp_path), "%s.link", tmp_dir);
if (result < 0) {
goto cleanup;
}
result = symlink(tmp_dir, tmp_path);
if (result < 0) {
goto cleanup;
}
// Move symlink to <params>/d
result = snprintf(path, sizeof(path), "%s/d", params_path);
if (result < 0) {
goto cleanup;
}
result = rename(tmp_path, path);
if (result < 0) {
goto cleanup;
}
} }
// Write value to temp. // Write value to temp.
@ -96,7 +158,7 @@ int write_db_value(const char* params_path, const char* key, const char* value,
if (result < 0) { if (result < 0) {
goto cleanup; goto cleanup;
} }
lock_fd = open(path, 0); lock_fd = open(path, O_CREAT);
// Build key path // Build key path
result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key); result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
@ -153,21 +215,18 @@ cleanup:
return result; return result;
} }
int delete_db_value(const char* params_path, const char* key) { int delete_db_value(const char* key, bool persistent_param) {
int lock_fd = -1; int lock_fd = -1;
int result; int result;
char path[1024]; char path[1024];
const char* params_path = persistent_param ? persistent_params_path : default_params_path;
if (params_path == NULL) {
params_path = default_params_path;
}
// Build lock path, and open lockfile // Build lock path, and open lockfile
result = snprintf(path, sizeof(path), "%s/.lock", params_path); result = snprintf(path, sizeof(path), "%s/.lock", params_path);
if (result < 0) { if (result < 0) {
goto cleanup; goto cleanup;
} }
lock_fd = open(path, 0); lock_fd = open(path, O_CREAT);
// Take lock. // Take lock.
result = flock(lock_fd, LOCK_EX); result = flock(lock_fd, LOCK_EX);
@ -207,15 +266,11 @@ cleanup:
return result; return result;
} }
int read_db_value(const char* params_path, const char* key, char** value, int read_db_value(const char* key, char** value, size_t* value_sz, bool persistent_param) {
size_t* value_sz) {
int lock_fd = -1; int lock_fd = -1;
int result; int result;
char path[1024]; char path[1024];
const char* params_path = persistent_param ? persistent_params_path : default_params_path;
if (params_path == NULL) {
params_path = default_params_path;
}
result = snprintf(path, sizeof(path), "%s/.lock", params_path); result = snprintf(path, sizeof(path), "%s/.lock", params_path);
if (result < 0) { if (result < 0) {
@ -253,10 +308,9 @@ cleanup:
return result; return result;
} }
void read_db_value_blocking(const char* params_path, const char* key, void read_db_value_blocking(const char* key, char** value, size_t* value_sz, bool persistent_param) {
char** value, size_t* value_sz) {
while (1) { while (1) {
const int result = read_db_value(params_path, key, value, value_sz); const int result = read_db_value(key, value, value_sz, persistent_param);
if (result == 0) { if (result == 0) {
return; return;
} else { } else {
@ -266,12 +320,9 @@ void read_db_value_blocking(const char* params_path, const char* key,
} }
} }
int read_db_all(const char* params_path, std::map<std::string, std::string> *params) { int read_db_all(std::map<std::string, std::string> *params, bool persistent_param) {
int err = 0; int err = 0;
const char* params_path = persistent_param ? persistent_params_path : default_params_path;
if (params_path == NULL) {
params_path = default_params_path;
}
std::string lock_path = util::string_format("%s/.lock", params_path); std::string lock_path = util::string_format("%s/.lock", params_path);

16
selfdrive/common/params.h
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@ -9,30 +9,28 @@ extern "C" {
#define ERR_NO_VALUE -33 #define ERR_NO_VALUE -33
int write_db_value(const char* params_path, const char* key, const char* value, int write_db_value(const char* key, const char* value, size_t value_size, bool persistent_param = false);
size_t value_size);
// Reads a value from the params database. // Reads a value from the params database.
// Inputs: // Inputs:
// params_path: The path of the database, or NULL to use the default.
// key: The key to read. // key: The key to read.
// value: A pointer where a newly allocated string containing the db value will // value: A pointer where a newly allocated string containing the db value will
// be written. // be written.
// value_sz: A pointer where the size of value will be written. Does not // value_sz: A pointer where the size of value will be written. Does not
// include the NULL terminator. // include the NULL terminator.
// persistent_param: Boolean indicating if the param store in the /persist partition is to be used.
// e.g. for sensor calibration files. Will not be cleared after wipe or re-install.
// //
// Returns: Negative on failure, otherwise 0. // Returns: Negative on failure, otherwise 0.
int read_db_value(const char* params_path, const char* key, char** value, int read_db_value(const char* key, char** value, size_t* value_sz, bool persistent_param = false);
size_t* value_sz);
// Delete a value from the params database. // Delete a value from the params database.
// Inputs are the same as read_db_value, without value and value_sz. // Inputs are the same as read_db_value, without value and value_sz.
int delete_db_value(const char* params_path, const char* key); int delete_db_value(const char* key, bool persistent_param = false);
// Reads a value from the params database, blocking until successful. // Reads a value from the params database, blocking until successful.
// Inputs are the same as read_db_value. // Inputs are the same as read_db_value.
void read_db_value_blocking(const char* params_path, const char* key, void read_db_value_blocking(const char* key, char** value, size_t* value_sz, bool persistent_param = false);
char** value, size_t* value_sz);
#ifdef __cplusplus #ifdef __cplusplus
} // extern "C" } // extern "C"
@ -41,7 +39,7 @@ void read_db_value_blocking(const char* params_path, const char* key,
#ifdef __cplusplus #ifdef __cplusplus
#include <map> #include <map>
#include <string> #include <string>
int read_db_all(const char* params_path, std::map<std::string, std::string> *params); int read_db_all(std::map<std::string, std::string> *params, bool persistent_param = false);
#endif #endif
#endif // _SELFDRIVE_COMMON_PARAMS_H_ #endif // _SELFDRIVE_COMMON_PARAMS_H_

6
selfdrive/locationd/paramsd.cc
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@ -51,7 +51,7 @@ int main(int argc, char *argv[]) {
LOGW("waiting for params to set vehicle model"); LOGW("waiting for params to set vehicle model");
while (true) { while (true) {
read_db_value(NULL, "CarParams", &value, &value_sz); read_db_value("CarParams", &value, &value_sz);
if (value_sz > 0) break; if (value_sz > 0) break;
usleep(100*1000); usleep(100*1000);
} }
@ -66,7 +66,7 @@ int main(int argc, char *argv[]) {
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>(); cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
// Read params from previous run // Read params from previous run
const int result = read_db_value(NULL, "LiveParameters", &value, &value_sz); const int result = read_db_value("LiveParameters", &value, &value_sz);
std::string fingerprint = car_params.getCarFingerprint(); std::string fingerprint = car_params.getCarFingerprint();
std::string vin = car_params.getCarVin(); std::string vin = car_params.getCarVin();
@ -168,7 +168,7 @@ int main(int argc, char *argv[]) {
std::string out = json.dump(); std::string out = json.dump();
std::async(std::launch::async, std::async(std::launch::async,
[out]{ [out]{
write_db_value(NULL, "LiveParameters", out.c_str(), out.length()); write_db_value("LiveParameters", out.c_str(), out.length());
}); });
} }
} }

12
selfdrive/loggerd/loggerd.cc
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@ -95,7 +95,7 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
if (front) { if (front) {
char *value; char *value;
const int result = read_db_value(NULL, "RecordFront", &value, NULL); const int result = read_db_value("RecordFront", &value, NULL);
if (result != 0) return; if (result != 0) return;
if (value[0] != '1') { free(value); return; } if (value[0] != '1') { free(value); return; }
free(value); free(value);
@ -459,32 +459,32 @@ kj::Array<capnp::word> gen_init_data() {
char* git_commit = NULL; char* git_commit = NULL;
size_t size; size_t size;
read_db_value(NULL, "GitCommit", &git_commit, &size); read_db_value("GitCommit", &git_commit, &size);
if (git_commit) { if (git_commit) {
init.setGitCommit(capnp::Text::Reader(git_commit, size)); init.setGitCommit(capnp::Text::Reader(git_commit, size));
} }
char* git_branch = NULL; char* git_branch = NULL;
read_db_value(NULL, "GitBranch", &git_branch, &size); read_db_value("GitBranch", &git_branch, &size);
if (git_branch) { if (git_branch) {
init.setGitBranch(capnp::Text::Reader(git_branch, size)); init.setGitBranch(capnp::Text::Reader(git_branch, size));
} }
char* git_remote = NULL; char* git_remote = NULL;
read_db_value(NULL, "GitRemote", &git_remote, &size); read_db_value("GitRemote", &git_remote, &size);
if (git_remote) { if (git_remote) {
init.setGitRemote(capnp::Text::Reader(git_remote, size)); init.setGitRemote(capnp::Text::Reader(git_remote, size));
} }
char* passive = NULL; char* passive = NULL;
read_db_value(NULL, "Passive", &passive, NULL); read_db_value("Passive", &passive, NULL);
init.setPassive(passive && strlen(passive) && passive[0] == '1'); init.setPassive(passive && strlen(passive) && passive[0] == '1');
{ {
// log params // log params
std::map<std::string, std::string> params; std::map<std::string, std::string> params;
read_db_all(NULL, &params); read_db_all(&params);
auto lparams = init.initParams().initEntries(params.size()); auto lparams = init.initParams().initEntries(params.size());
int i = 0; int i = 0;
for (auto& kv : params) { for (auto& kv : params) {

2
selfdrive/modeld/models/driving.cc
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@ -56,7 +56,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN); s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
char *string; char *string;
const int result = read_db_value(NULL, "IsRHD", &string, NULL); const int result = read_db_value("IsRHD", &string, NULL);
if (result == 0) { if (result == 0) {
bool is_rhd = string[0] == '1'; bool is_rhd = string[0] == '1';
free(string); free(string);

49
selfdrive/ui/ui.cc
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@ -118,7 +118,7 @@ static void handle_sidebar_touch(UIState *s, int touch_x, int touch_y) {
} }
static void handle_driver_view_touch(UIState *s, int touch_x, int touch_y) { static void handle_driver_view_touch(UIState *s, int touch_x, int touch_y) {
int err = write_db_value(NULL, "IsDriverViewEnabled", "0", 1); int err = write_db_value("IsDriverViewEnabled", "0", 1);
} }
static void handle_vision_touch(UIState *s, int touch_x, int touch_y) { static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
@ -138,27 +138,28 @@ static void set_do_exit(int sig) {
do_exit = 1; do_exit = 1;
} }
static void read_param_bool(bool* param, const char* param_name) { static void read_param_bool(bool* param, const char* param_name, bool persistent_param = false) {
char *s; 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) { if (result == 0) {
*param = s[0] == '1'; *param = s[0] == '1';
free(s); free(s);
} }
} }
static void read_param_float(float* param, const char* param_name) { static int read_param_float(float* param, const char* param_name, bool persistent_param = false) {
char *s; 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) { if (result == 0) {
*param = strtod(s, NULL); *param = strtod(s, NULL);
free(s); free(s);
} }
return result;
} }
static int read_param_uint64(uint64_t* dest, const char* param_name) { static int read_param_uint64(uint64_t* dest, const char* param_name, bool persistent_param = false) {
char *s; 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) { if (result == 0) {
*dest = strtoull(s, NULL, 0); *dest = strtoull(s, NULL, 0);
free(s); free(s);
@ -166,34 +167,40 @@ static int read_param_uint64(uint64_t* dest, const char* param_name) {
return result; 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){ if (*timeout > 0){
(*timeout)--; (*timeout)--;
} else { } else {
read_param_bool(param, param_name); read_param_bool(param, param_name, persistent_param);
*timeout = 2 * UI_FREQ; // 0.5Hz *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){ if (*timeout > 0){
(*timeout)--; (*timeout)--;
} else { } else {
read_param_float(param, param_name); read_param_float(param, param_name, persistent_param);
*timeout = 2 * UI_FREQ; // 0.5Hz *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){ if (*timeout > 0){
(*timeout)--; (*timeout)--;
return 0; return 0;
} else { } else {
return read_param_uint64(dest, param_name); return read_param_uint64(dest, param_name, persistent_param);
*timeout = 2 * UI_FREQ; // 0.5Hz *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) { static void update_offroad_layout_timeout(UIState *s, int* timeout) {
if (*timeout > 0) { if (*timeout > 0) {
(*timeout)--; (*timeout)--;
@ -885,10 +892,18 @@ int main(int argc, char* argv[]) {
// light sensor scaling params // light sensor scaling params
const int LEON = is_leon(); const int LEON = is_leon();
const float BRIGHTNESS_B = LEON ? 10.0 : 5.0; float brightness_b, brightness_m;
const float BRIGHTNESS_M = LEON ? 2.6 : 1.3; int result = read_param_float(&brightness_b, "BRIGHTNESS_B", true);
result += read_param_float(&brightness_m, "BRIGHTNESS_M", true);
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; float smooth_brightness = brightness_b;
const int MIN_VOLUME = LEON ? 12 : 9; const int MIN_VOLUME = LEON ? 12 : 9;
const int MAX_VOLUME = LEON ? 15 : 12; const int MAX_VOLUME = LEON ? 15 : 12;
@ -912,7 +927,7 @@ int main(int argc, char* argv[]) {
double u1 = millis_since_boot(); double u1 = millis_since_boot();
// light sensor is only exposed on EONs // 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; if (clipped_brightness > 512) clipped_brightness = 512;
smooth_brightness = clipped_brightness * 0.01 + smooth_brightness * 0.99; smooth_brightness = clipped_brightness * 0.01 + smooth_brightness * 0.99;
if (smooth_brightness > 255) smooth_brightness = 255; if (smooth_brightness > 255) smooth_brightness = 255;

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