diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index bfb805fd59..d3f33294a1 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -166,16 +166,22 @@ static void update_state(UIState *s) { } } } - if (sm.updated("roadCameraState")) { + if (!Hardware::TICI() && sm.updated("roadCameraState")) { auto camera_state = sm["roadCameraState"].getRoadCameraState(); float max_lines = Hardware::EON() ? 5408 : 1904; float max_gain = Hardware::EON() ? 1.0: 10.0; float max_ev = max_lines * max_gain; - if (Hardware::TICI()) { - max_ev /= 6; - } + float ev = camera_state.getGain() * float(camera_state.getIntegLines()); + + scene.light_sensor = std::clamp(1.0 - (ev / max_ev), 0.0, 1.0); + } else if (Hardware::TICI() && sm.updated("wideRoadCameraState")) { + auto camera_state = sm["wideRoadCameraState"].getWideRoadCameraState(); + + float max_lines = 1904; + float max_gain = 10.0; + float max_ev = max_lines * max_gain / 6; float ev = camera_state.getGain() * float(camera_state.getIntegLines()); @@ -220,6 +226,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman", + "wideRoadCameraState", }); Params params;