Use exposure for screen brightness (#20290)

* use camera to set screen brightness

* leave default

* lower default

* fix offroad

* increase offroad brightness

* ifdef ifndef

* fix qcomgp

selfdrive/ui/qt/home.cc

@@ -26,6 +26,7 @@
 
 #define BACKLIGHT_DT 0.25
 #define BACKLIGHT_TS 2.00
+#define BACKLIGHT_OFFROAD 512
 
 OffroadHome::OffroadHome(QWidget* parent) : QWidget(parent) {
   QVBoxLayout* main_layout = new QVBoxLayout();
@@ -215,10 +216,10 @@ GLWindow::GLWindow(QWidget* parent) : QOpenGLWidget(parent) {
   int result = read_param(&brightness_b, "BRIGHTNESS_B", true);
   result += read_param(&brightness_m, "BRIGHTNESS_M", true);
   if (result != 0) {
-    brightness_b = 200.0;
+    brightness_b = 10.0;
-    brightness_m = 10.0;
+    brightness_m = 1.0;
   }
-  smooth_brightness = 512;
+  smooth_brightness = BACKLIGHT_OFFROAD;
 }
 
 GLWindow::~GLWindow() {
@@ -247,8 +248,11 @@ void GLWindow::backlightUpdate() {
   // Update brightness
   float k = (BACKLIGHT_DT / BACKLIGHT_TS) / (1.0f + BACKLIGHT_DT / BACKLIGHT_TS);
 
-  float clipped_brightness = std::min(1023.0f, (ui_state.scene.light_sensor * brightness_m) + brightness_b);
+  float clipped_brightness = ui_state.scene.started ?
+    std::min(1023.0f, (ui_state.scene.light_sensor * brightness_m) + brightness_b) : BACKLIGHT_OFFROAD;
+
   smooth_brightness = clipped_brightness * k + smooth_brightness * (1.0f - k);
+
   int brightness = smooth_brightness;
 
   if (!ui_state.awake) {

selfdrive/ui/ui.cc

@@ -54,8 +54,13 @@ static void ui_init_vision(UIState *s) {
 
 
 void ui_init(UIState *s) {
-  s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
+  s->sm = new SubMaster({
-                         "pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss"});
+    "modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "deviceState", "liveLocationKalman",
+    "pandaState", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss",
+#ifdef QCOM2
+    "roadCameraState",
+#endif
+  });
 
   s->scene.started = false;
   s->status = STATUS_OFFROAD;
@@ -215,7 +220,9 @@ static void update_sockets(UIState *s) {
   if (sm.updated("sensorEvents")) {
     for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
       if (sensor.which() == cereal::SensorEventData::LIGHT) {
+#ifndef QCOM2
         scene.light_sensor = sensor.getLight();
+#endif
       } else 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
@@ -229,6 +236,11 @@ static void update_sockets(UIState *s) {
       }
     }
   }
+#ifdef QCOM2
+  if (sm.updated("roadCameraState")) {
+    scene.light_sensor = std::clamp<float>(1023.0 - sm["roadCameraState"].getRoadCameraState().getIntegLines(), 0.0, 1023.0);
+  }
+#endif
   scene.started = scene.deviceState.getStarted() || scene.driver_view;
 }