diff --git a/cereal b/cereal
index c5c2a60f1a..cf7bb3e749 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c5c2a60f1aa796e7de464015349db3c336b79220
+Subproject commit cf7bb3e74974879abef94286fab4d39398fe402b
diff --git a/docs/CARS.md b/docs/CARS.md
index 591a76e4cb..8854a801ab 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|Parts
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here{release_notes}
\n")
+ self.assertEqual(get_version(str(self.staging_root / "finalized")), version)
+ self.assertEqual(get_consistent_flag(), True)
- def wait_for_idle(self, timeout=5, min_wait_time=2):
+ def wait_for_condition(self, condition, timeout=12):
start = time.monotonic()
- time.sleep(min_wait_time)
-
while True:
waited = time.monotonic() - start
- if self.params.get("UpdaterState", encoding="utf-8") == "idle":
- print(f"waited {waited}s for idle")
- break
+ if condition():
+ print(f"waited {waited}s for condition ")
+ return waited
if waited > timeout:
- raise TimeoutError("timed out waiting for idle")
+ raise TimeoutError("timed out waiting for condition")
time.sleep(1)
+ def wait_for_idle(self):
+ self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle")
+
+ def wait_for_fetch_available(self):
+ self.wait_for_condition(lambda: self.params.get_bool("UpdaterFetchAvailable"))
+
+ def wait_for_update_available(self):
+ self.wait_for_condition(lambda: self.params.get_bool("UpdateAvailable"))
+
def test_no_update(self):
# Start on release3, ensure we don't fetch any updates
self.setup_remote_release("release3")
self.setup_basedir_release("release3")
- with processes_context(["updated"]) as [updated]:
+ with self.additional_context(), processes_context(["updated"]) as [updated]:
self._test_params("release3", False, False)
- time.sleep(1)
+ self.wait_for_idle()
self._test_params("release3", False, False)
self.send_check_for_updates_signal(updated)
@@ -140,9 +154,9 @@ class TestUpdateD(unittest.TestCase):
self.setup_remote_release("release3")
self.setup_basedir_release("release3")
- with processes_context(["updated"]) as [updated]:
+ with self.additional_context(), processes_context(["updated"]) as [updated]:
self._test_params("release3", False, False)
- time.sleep(1)
+ self.wait_for_idle()
self._test_params("release3", False, False)
self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes")
@@ -150,16 +164,16 @@ class TestUpdateD(unittest.TestCase):
self.send_check_for_updates_signal(updated)
- self.wait_for_idle()
+ self.wait_for_fetch_available()
self._test_params("release3", True, False)
self.send_download_signal(updated)
- self.wait_for_idle()
+ self.wait_for_update_available()
self._test_params("release3", False, True)
- self._test_update_params("release3", *self.MOCK_RELEASES["release3"])
+ self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
def test_switch_branches(self):
# Start on release3, request to switch to master manually, ensure we switched
@@ -167,7 +181,7 @@ class TestUpdateD(unittest.TestCase):
self.setup_remote_release("master")
self.setup_basedir_release("release3")
- with processes_context(["updated"]) as [updated]:
+ with self.additional_context(), processes_context(["updated"]) as [updated]:
self._test_params("release3", False, False)
self.wait_for_idle()
self._test_params("release3", False, False)
@@ -175,30 +189,31 @@ class TestUpdateD(unittest.TestCase):
self.set_target_branch("master")
self.send_check_for_updates_signal(updated)
- self.wait_for_idle()
+ self.wait_for_fetch_available()
self._test_params("master", True, False)
self.send_download_signal(updated)
- self.wait_for_idle()
+ self.wait_for_update_available()
self._test_params("master", False, True)
- self._test_update_params("master", *self.MOCK_RELEASES["master"])
+ self._test_finalized_update("master", *self.MOCK_RELEASES["master"])
def test_agnos_update(self):
# Start on release3, push an update with an agnos change
self.setup_remote_release("release3")
self.setup_basedir_release("release3")
- with mock.patch("openpilot.system.hardware.AGNOS", "True"), \
- mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
- mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
- mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
+ with self.additional_context(), \
+ mock.patch("openpilot.system.hardware.AGNOS", "True"), \
+ mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
+ mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
+ mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
processes_context(["updated"]) as [updated]:
self._test_params("release3", False, False)
- time.sleep(1)
+ self.wait_for_idle()
self._test_params("release3", False, False)
self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes")
@@ -206,17 +221,13 @@ class TestUpdateD(unittest.TestCase):
self.send_check_for_updates_signal(updated)
- self.wait_for_idle()
+ self.wait_for_fetch_available()
self._test_params("release3", True, False)
self.send_download_signal(updated)
- self.wait_for_idle()
+ self.wait_for_update_available()
self._test_params("release3", False, True)
- self._test_update_params("release3", *self.MOCK_RELEASES["release3"])
-
-
-if __name__ == "__main__":
- unittest.main()
+ self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
diff --git a/selfdrive/updated/tests/test_git.py b/selfdrive/updated/tests/test_git.py
new file mode 100644
index 0000000000..1a9c78242d
--- /dev/null
+++ b/selfdrive/updated/tests/test_git.py
@@ -0,0 +1,22 @@
+import contextlib
+from openpilot.selfdrive.updated.tests.test_base import BaseUpdateTest, run, update_release
+
+
+class TestUpdateDGitStrategy(BaseUpdateTest):
+ def update_remote_release(self, release):
+ update_release(self.remote_dir, release, *self.MOCK_RELEASES[release])
+ run(["git", "add", "."], cwd=self.remote_dir)
+ run(["git", "commit", "-m", f"openpilot release {release}"], cwd=self.remote_dir)
+
+ def setup_remote_release(self, release):
+ run(["git", "init"], cwd=self.remote_dir)
+ run(["git", "checkout", "-b", release], cwd=self.remote_dir)
+ self.update_remote_release(release)
+
+ def setup_basedir_release(self, release):
+ super().setup_basedir_release(release)
+ run(["git", "clone", "-b", release, self.remote_dir, self.basedir])
+
+ @contextlib.contextmanager
+ def additional_context(self):
+ yield
diff --git a/selfdrive/updated/updated.py b/selfdrive/updated/updated.py
index b6b395f254..92034cc806 100755
--- a/selfdrive/updated/updated.py
+++ b/selfdrive/updated/updated.py
@@ -1,35 +1,21 @@
#!/usr/bin/env python3
import os
-import re
+from pathlib import Path
import datetime
import subprocess
import psutil
-import shutil
import signal
import fcntl
-import time
import threading
-from collections import defaultdict
-from pathlib import Path
-from markdown_it import MarkdownIt
-from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.common.time import system_time_valid
+from openpilot.selfdrive.updated.common import LOCK_FILE, STAGING_ROOT, UpdateStrategy, run, set_consistent_flag
from openpilot.system.hardware import AGNOS, HARDWARE
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
from openpilot.system.version import is_tested_branch
-
-LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
-STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
-
-OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper")
-OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata")
-OVERLAY_MERGED = os.path.join(STAGING_ROOT, "merged")
-FINALIZED = os.path.join(STAGING_ROOT, "finalized")
-
-OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init"))
+from openpilot.selfdrive.updated.git import GitUpdateStrategy
DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days
DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days
@@ -71,147 +57,13 @@ def read_time_from_param(params, param) -> datetime.datetime | None:
pass
return None
-def run(cmd: list[str], cwd: str = None) -> str:
- return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
-
-
-def set_consistent_flag(consistent: bool) -> None:
- os.sync()
- consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))
- if consistent:
- consistent_file.touch()
- elif not consistent:
- consistent_file.unlink(missing_ok=True)
- os.sync()
-
-def parse_release_notes(basedir: str) -> bytes:
- try:
- with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
- r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes
- try:
- return bytes(MarkdownIt().render(r.decode("utf-8")), encoding="utf-8")
- except Exception:
- return r + b"\n"
- except FileNotFoundError:
- pass
- except Exception:
- cloudlog.exception("failed to parse release notes")
- return b""
-
-def setup_git_options(cwd: str) -> None:
- # We sync FS object atimes (which NEOS doesn't use) and mtimes, but ctimes
- # are outside user control. Make sure Git is set up to ignore system ctimes,
- # because they change when we make hard links during finalize. Otherwise,
- # there is a lot of unnecessary churn. This appears to be a common need on
- # OSX as well: https://www.git-tower.com/blog/make-git-rebase-safe-on-osx/
-
- # We are using copytree to copy the directory, which also changes
- # inode numbers. Ignore those changes too.
-
- # Set protocol to the new version (default after git 2.26) to reduce data
- # usage on git fetch --dry-run from about 400KB to 18KB.
- git_cfg = [
- ("core.trustctime", "false"),
- ("core.checkStat", "minimal"),
- ("protocol.version", "2"),
- ("gc.auto", "0"),
- ("gc.autoDetach", "false"),
- ]
- for option, value in git_cfg:
- run(["git", "config", option, value], cwd)
-
-
-def dismount_overlay() -> None:
- if os.path.ismount(OVERLAY_MERGED):
- cloudlog.info("unmounting existing overlay")
- run(["sudo", "umount", "-l", OVERLAY_MERGED])
-
-
-def init_overlay() -> None:
-
- # Re-create the overlay if BASEDIR/.git has changed since we created the overlay
- if OVERLAY_INIT.is_file() and os.path.ismount(OVERLAY_MERGED):
- git_dir_path = os.path.join(BASEDIR, ".git")
- new_files = run(["find", git_dir_path, "-newer", str(OVERLAY_INIT)])
- if not len(new_files.splitlines()):
- # A valid overlay already exists
- return
- else:
- cloudlog.info(".git directory changed, recreating overlay")
-
- cloudlog.info("preparing new safe staging area")
-
- params = Params()
- params.put_bool("UpdateAvailable", False)
- set_consistent_flag(False)
- dismount_overlay()
- run(["sudo", "rm", "-rf", STAGING_ROOT])
- if os.path.isdir(STAGING_ROOT):
- shutil.rmtree(STAGING_ROOT)
-
- for dirname in [STAGING_ROOT, OVERLAY_UPPER, OVERLAY_METADATA, OVERLAY_MERGED]:
- os.mkdir(dirname, 0o755)
-
- if os.lstat(BASEDIR).st_dev != os.lstat(OVERLAY_MERGED).st_dev:
- raise RuntimeError("base and overlay merge directories are on different filesystems; not valid for overlay FS!")
-
- # Leave a timestamped canary in BASEDIR to check at startup. The device clock
- # should be correct by the time we get here. If the init file disappears, or
- # critical mtimes in BASEDIR are newer than .overlay_init, continue.sh can
- # assume that BASEDIR has used for local development or otherwise modified,
- # and skips the update activation attempt.
- consistent_file = Path(os.path.join(BASEDIR, ".overlay_consistent"))
- if consistent_file.is_file():
- consistent_file.unlink()
- OVERLAY_INIT.touch()
-
- os.sync()
- overlay_opts = f"lowerdir={BASEDIR},upperdir={OVERLAY_UPPER},workdir={OVERLAY_METADATA}"
-
- mount_cmd = ["mount", "-t", "overlay", "-o", overlay_opts, "none", OVERLAY_MERGED]
- run(["sudo"] + mount_cmd)
- run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])
-
- git_diff = run(["git", "diff"], OVERLAY_MERGED)
- params.put("GitDiff", git_diff)
- cloudlog.info(f"git diff output:\n{git_diff}")
-
-
-def finalize_update() -> None:
- """Take the current OverlayFS merged view and finalize a copy outside of
- OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree"""
-
- # Remove the update ready flag and any old updates
- cloudlog.info("creating finalized version of the overlay")
- set_consistent_flag(False)
-
- # Copy the merged overlay view and set the update ready flag
- if os.path.exists(FINALIZED):
- shutil.rmtree(FINALIZED)
- shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
-
- run(["git", "reset", "--hard"], FINALIZED)
- run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED)
-
- cloudlog.info("Starting git cleanup in finalized update")
- t = time.monotonic()
- try:
- run(["git", "gc"], FINALIZED)
- run(["git", "lfs", "prune"], FINALIZED)
- cloudlog.event("Done git cleanup", duration=time.monotonic() - t)
- except subprocess.CalledProcessError:
- cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s")
-
- set_consistent_flag(True)
- cloudlog.info("done finalizing overlay")
-
-def handle_agnos_update() -> None:
+def handle_agnos_update(fetched_path) -> None:
from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
cur_version = HARDWARE.get_os_version()
updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
- echo -n $AGNOS_VERSION"], OVERLAY_MERGED).strip()
+ echo -n $AGNOS_VERSION"], fetched_path).strip()
cloudlog.info(f"AGNOS version check: {cur_version} vs {updated_version}")
if cur_version == updated_version:
@@ -223,61 +75,44 @@ def handle_agnos_update() -> None:
cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
set_offroad_alert("Offroad_NeosUpdate", True)
- manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json")
+ manifest_path = os.path.join(fetched_path, "system/hardware/tici/agnos.json")
target_slot_number = get_target_slot_number()
flash_agnos_update(manifest_path, target_slot_number, cloudlog)
set_offroad_alert("Offroad_NeosUpdate", False)
+STRATEGY = {
+ "git": GitUpdateStrategy,
+}
+
class Updater:
def __init__(self):
self.params = Params()
- self.branches = defaultdict(str)
self._has_internet: bool = False
+ self.strategy: UpdateStrategy = STRATEGY[os.environ.get("UPDATER_STRATEGY", "git")]()
+
@property
def has_internet(self) -> bool:
return self._has_internet
- @property
- def target_branch(self) -> str:
- b: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8')
- if b is None:
- b = self.get_branch(BASEDIR)
- return b
-
- @property
- def update_ready(self) -> bool:
- consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))
- if consistent_file.is_file():
- hash_mismatch = self.get_commit_hash(BASEDIR) != self.branches[self.target_branch]
- branch_mismatch = self.get_branch(BASEDIR) != self.target_branch
- on_target_branch = self.get_branch(FINALIZED) == self.target_branch
- return ((hash_mismatch or branch_mismatch) and on_target_branch)
- return False
+ def init(self):
+ self.strategy.init()
- @property
- def update_available(self) -> bool:
- if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0:
- hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch]
- branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch
- return hash_mismatch or branch_mismatch
- return False
-
- def get_branch(self, path: str) -> str:
- return run(["git", "rev-parse", "--abbrev-ref", "HEAD"], path).rstrip()
-
- def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str:
- return run(["git", "rev-parse", "HEAD"], path).rstrip()
+ def cleanup(self):
+ self.strategy.cleanup()
def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
self.params.put("UpdateFailedCount", str(failed_count))
- self.params.put("UpdaterTargetBranch", self.target_branch)
- self.params.put_bool("UpdaterFetchAvailable", self.update_available)
- if len(self.branches):
- self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
+ if self.params.get("UpdaterTargetBranch") is None:
+ self.params.put("UpdaterTargetBranch", self.strategy.current_channel())
+
+ self.params.put_bool("UpdaterFetchAvailable", self.strategy.update_available())
+
+ available_channels = self.strategy.get_available_channels()
+ self.params.put("UpdaterAvailableBranches", ','.join(available_channels))
last_update = datetime.datetime.utcnow()
if update_success:
@@ -292,32 +127,14 @@ class Updater:
else:
self.params.put("LastUpdateException", exception)
- # Write out current and new version info
- def get_description(basedir: str) -> str:
- if not os.path.exists(basedir):
- return ""
+ description_current, release_notes_current = self.strategy.describe_current_channel()
+ description_ready, release_notes_ready = self.strategy.describe_ready_channel()
- version = ""
- branch = ""
- commit = ""
- commit_date = ""
- try:
- branch = self.get_branch(basedir)
- commit = self.get_commit_hash(basedir)[:7]
- with open(os.path.join(basedir, "common", "version.h")) as f:
- version = f.read().split('"')[1]
-
- commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
- dt = datetime.datetime.fromtimestamp(int(commit_unix_ts))
- commit_date = dt.strftime("%b %d")
- except Exception:
- cloudlog.exception("updater.get_description")
- return f"{version} / {branch} / {commit} / {commit_date}"
- self.params.put("UpdaterCurrentDescription", get_description(BASEDIR))
- self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
- self.params.put("UpdaterNewDescription", get_description(FINALIZED))
- self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED))
- self.params.put_bool("UpdateAvailable", self.update_ready)
+ self.params.put("UpdaterCurrentDescription", description_current)
+ self.params.put("UpdaterCurrentReleaseNotes", release_notes_current)
+ self.params.put("UpdaterNewDescription", description_ready)
+ self.params.put("UpdaterNewReleaseNotes", release_notes_ready)
+ self.params.put_bool("UpdateAvailable", self.strategy.update_ready())
# Handle user prompt
for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
@@ -341,67 +158,24 @@ class Updater:
def check_for_update(self) -> None:
cloudlog.info("checking for updates")
- excluded_branches = ('release2', 'release2-staging')
-
- try:
- run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED)
- self._has_internet = True
- except subprocess.CalledProcessError:
- self._has_internet = False
-
- setup_git_options(OVERLAY_MERGED)
- output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED)
-
- self.branches = defaultdict(lambda: None)
- for line in output.split('\n'):
- ls_remotes_re = r'(?P\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P.*$)'
- x = re.fullmatch(ls_remotes_re, line.strip())
- if x is not None and x.group('branch_name') not in excluded_branches:
- self.branches[x.group('branch_name')] = x.group('commit_sha')
-
- cur_branch = self.get_branch(OVERLAY_MERGED)
- cur_commit = self.get_commit_hash(OVERLAY_MERGED)
- new_branch = self.target_branch
- new_commit = self.branches[new_branch]
- if (cur_branch, cur_commit) != (new_branch, new_commit):
- cloudlog.info(f"update available, {cur_branch} ({str(cur_commit)[:7]}) -> {new_branch} ({str(new_commit)[:7]})")
- else:
- cloudlog.info(f"up to date on {cur_branch} ({str(cur_commit)[:7]})")
+ self.strategy.update_available()
def fetch_update(self) -> None:
- cloudlog.info("attempting git fetch inside staging overlay")
-
self.params.put("UpdaterState", "downloading...")
# TODO: cleanly interrupt this and invalidate old update
set_consistent_flag(False)
self.params.put_bool("UpdateAvailable", False)
- setup_git_options(OVERLAY_MERGED)
-
- branch = self.target_branch
- git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED)
- cloudlog.info("git fetch success: %s", git_fetch_output)
-
- cloudlog.info("git reset in progress")
- cmds = [
- ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"],
- ["git", "reset", "--hard"],
- ["git", "clean", "-xdff"],
- ["git", "submodule", "sync"],
- ["git", "submodule", "update", "--init", "--recursive"],
- ["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"],
- ]
- r = [run(cmd, OVERLAY_MERGED) for cmd in cmds]
- cloudlog.info("git reset success: %s", '\n'.join(r))
+ self.strategy.fetch_update()
# TODO: show agnos download progress
if AGNOS:
- handle_agnos_update()
+ handle_agnos_update(self.strategy.fetched_path())
# Create the finalized, ready-to-swap update
self.params.put("UpdaterState", "finalizing update...")
- finalize_update()
+ self.strategy.finalize_update()
cloudlog.info("finalize success!")
@@ -450,7 +224,7 @@ def main() -> None:
exception = None
try:
# TODO: reuse overlay from previous updated instance if it looks clean
- init_overlay()
+ updater.init()
# ensure we have some params written soon after startup
updater.set_params(False, update_failed_count, exception)
@@ -486,11 +260,11 @@ def main() -> None:
returncode=e.returncode
)
exception = f"command failed: {e.cmd}\n{e.output}"
- OVERLAY_INIT.unlink(missing_ok=True)
+ updater.cleanup()
except Exception as e:
cloudlog.exception("uncaught updated exception, shouldn't happen")
exception = str(e)
- OVERLAY_INIT.unlink(missing_ok=True)
+ updater.cleanup()
try:
params.put("UpdaterState", "idle")
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index fff4a62d31..aa815bfadf 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -27,14 +27,18 @@ public:
"-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
"-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
- "-DIS_OX=%d -DCAM_NUM=%d%s",
+ "-DIS_OX=%d -DIS_OS=%d -DIS_BGGR=%d -DCAM_NUM=%d%s",
ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
b->rgb_width, b->rgb_height, buf_width, uv_offset,
- ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+ ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10,
+ ci->image_sensor == cereal::FrameData::ImageSensor::OS04C10,
+ ci->image_sensor == cereal::FrameData::ImageSensor::OS04C10,
+ s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
const char *cl_file = "cameras/real_debayer.cl";
cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
CL_CHECK(clReleaseProgram(prg_debayer));
+
}
void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *debayer_event) {
diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl
index e15a873d6d..5f8d046cb5 100644
--- a/system/camerad/cameras/real_debayer.cl
+++ b/system/camerad/cameras/real_debayer.cl
@@ -8,7 +8,7 @@
float3 color_correct(float3 rgb) {
// color correction
- #if IS_OX
+ #if IS_OX | IS_OS
float3 x = rgb.x * (float3)(1.5664815 , -0.29808738, -0.03973474);
x += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
x += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
@@ -20,6 +20,8 @@ float3 color_correct(float3 rgb) {
#if IS_OX
return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089;
+ #elif IS_OS
+ return powr(x,0.7);
#else
// tone mapping params
const float gamma_k = 0.75;
@@ -35,6 +37,9 @@ float3 color_correct(float3 rgb) {
}
float get_vignetting_s(float r) {
+ #if IS_OS
+ r = r / 2.2545f;
+ #endif
if (r < 62500) {
return (1.0f + 0.0000008f*r);
} else if (r < 490000) {
@@ -85,6 +90,24 @@ float4 val4_from_12(uchar8 pvs, float gain) {
}
+float4 val4_from_10(uchar8 pvs, uchar ext, bool aligned, float gain) {
+ uint4 parsed;
+ if (aligned) {
+ parsed = (uint4)(((uint)pvs.s0 << 2) + (pvs.s1 & 0b00000011),
+ ((uint)pvs.s2 << 2) + ((pvs.s6 & 0b11000000) / 64),
+ ((uint)pvs.s3 << 2) + ((pvs.s6 & 0b00110000) / 16),
+ ((uint)pvs.s4 << 2) + ((pvs.s6 & 0b00001100) / 4));
+ } else {
+ parsed = (uint4)(((uint)pvs.s0 << 2) + ((pvs.s3 & 0b00110000) / 16),
+ ((uint)pvs.s1 << 2) + ((pvs.s3 & 0b00001100) / 4),
+ ((uint)pvs.s2 << 2) + ((pvs.s3 & 0b00000011)),
+ ((uint)pvs.s4 << 2) + ((ext & 0b11000000) / 64));
+ }
+
+ float4 pv = convert_float4(parsed) / 1024.0;
+ return clamp(pv*gain, 0.0, 1.0);
+}
+
float get_k(float a, float b, float c, float d) {
return 2.0 - (fabs(a - b) + fabs(c - d));
}
@@ -94,20 +117,51 @@ __kernel void debayer10(const __global uchar * in, __global uchar * out)
const int gid_x = get_global_id(0);
const int gid_y = get_global_id(1);
- const int y_top_mod = (gid_y == 0) ? 2: 0;
- const int y_bot_mod = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1: 3;
+ const int row_before_offset = (gid_y == 0) ? 2 : 0;
+ const int row_after_offset = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1 : 3;
float3 rgb;
uchar3 rgb_out[4];
- int start = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
+ #if IS_BGGR
+ constant int row_read_order[] = {3, 2, 1, 0};
+ constant int rgb_write_order[] = {2, 3, 0, 1};
+ #else
+ constant int row_read_order[] = {0, 1, 2, 3};
+ constant int rgb_write_order[] = {0, 1, 2, 3};
+ #endif
+
+ int start_idx;
+ #if IS_10BIT
+ bool aligned10;
+ if (gid_x % 2 == 0) {
+ aligned10 = true;
+ start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * gid_x / 2 - 2) + (FRAME_STRIDE * FRAME_OFFSET);
+ } else {
+ aligned10 = false;
+ start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * (gid_x - 1) / 2 + 1) + (FRAME_STRIDE * FRAME_OFFSET);
+ }
+ #else
+ start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
+ #endif
// read in 8x4 chars
uchar8 dat[4];
- dat[0] = vload8(0, in + start + FRAME_STRIDE*y_top_mod);
- dat[1] = vload8(0, in + start + FRAME_STRIDE*1);
- dat[2] = vload8(0, in + start + FRAME_STRIDE*2);
- dat[3] = vload8(0, in + start + FRAME_STRIDE*y_bot_mod);
+ dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*row_before_offset);
+ dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1);
+ dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2);
+ dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset);
+
+ // need extra bit for 10-bit
+ #if IS_10BIT
+ uchar extra[4];
+ if (!aligned10) {
+ extra[0] = in[start_idx + FRAME_STRIDE*row_before_offset + 8];
+ extra[1] = in[start_idx + FRAME_STRIDE*1 + 8];
+ extra[2] = in[start_idx + FRAME_STRIDE*2 + 8];
+ extra[3] = in[start_idx + FRAME_STRIDE*row_after_offset + 8];
+ }
+ #endif
// correct vignetting
#if VIGNETTING
@@ -118,60 +172,69 @@ __kernel void debayer10(const __global uchar * in, __global uchar * out)
const float gain = 1.0;
#endif
- // process them to floats
- float4 va = val4_from_12(dat[0], gain);
- float4 vb = val4_from_12(dat[1], gain);
- float4 vc = val4_from_12(dat[2], gain);
- float4 vd = val4_from_12(dat[3], gain);
+ float4 v_rows[4];
+ // parse into floats
+ #if IS_10BIT
+ v_rows[row_read_order[0]] = val4_from_10(dat[0], extra[0], aligned10, 1.0);
+ v_rows[row_read_order[1]] = val4_from_10(dat[1], extra[1], aligned10, 1.0);
+ v_rows[row_read_order[2]] = val4_from_10(dat[2], extra[2], aligned10, 1.0);
+ v_rows[row_read_order[3]] = val4_from_10(dat[3], extra[3], aligned10, 1.0);
+ #else
+ v_rows[row_read_order[0]] = val4_from_12(dat[0], gain);
+ v_rows[row_read_order[1]] = val4_from_12(dat[1], gain);
+ v_rows[row_read_order[2]] = val4_from_12(dat[2], gain);
+ v_rows[row_read_order[3]] = val4_from_12(dat[3], gain);
+ #endif
+ // mirror padding
if (gid_x == 0) {
- va.s0 = va.s2;
- vb.s0 = vb.s2;
- vc.s0 = vc.s2;
- vd.s0 = vd.s2;
+ v_rows[0].s0 = v_rows[0].s2;
+ v_rows[1].s0 = v_rows[1].s2;
+ v_rows[2].s0 = v_rows[2].s2;
+ v_rows[3].s0 = v_rows[3].s2;
} else if (gid_x == RGB_WIDTH/2 - 1) {
- va.s3 = va.s1;
- vb.s3 = vb.s1;
- vc.s3 = vc.s1;
- vd.s3 = vd.s1;
+ v_rows[0].s3 = v_rows[0].s1;
+ v_rows[1].s3 = v_rows[1].s1;
+ v_rows[2].s3 = v_rows[2].s1;
+ v_rows[3].s3 = v_rows[3].s1;
}
// a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
- const float k01 = get_k(va.s0, vb.s1, va.s2, vb.s1);
- const float k02 = get_k(va.s2, vb.s1, vc.s2, vb.s1);
- const float k03 = get_k(vc.s0, vb.s1, vc.s2, vb.s1);
- const float k04 = get_k(va.s0, vb.s1, vc.s0, vb.s1);
- rgb.x = (k02*vb.s2+k04*vb.s0)/(k02+k04); // R_G1
- rgb.y = vb.s1; // G1(R)
- rgb.z = (k01*va.s1+k03*vc.s1)/(k01+k03); // B_G1
- rgb_out[0] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
-
- const float k11 = get_k(va.s1, vc.s1, va.s3, vc.s3);
- const float k12 = get_k(va.s2, vb.s1, vb.s3, vc.s2);
- const float k13 = get_k(va.s1, va.s3, vc.s1, vc.s3);
- const float k14 = get_k(va.s2, vb.s3, vc.s2, vb.s1);
- rgb.x = vb.s2; // R
- rgb.y = (k11*(va.s2+vc.s2)*0.5+k13*(vb.s3+vb.s1)*0.5)/(k11+k13); // G_R
- rgb.z = (k12*(va.s3+vc.s1)*0.5+k14*(va.s1+vc.s3)*0.5)/(k12+k14); // B_R
- rgb_out[1] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
-
- const float k21 = get_k(vb.s0, vd.s0, vb.s2, vd.s2);
- const float k22 = get_k(vb.s1, vc.s0, vc.s2, vd.s1);
- const float k23 = get_k(vb.s0, vb.s2, vd.s0, vd.s2);
- const float k24 = get_k(vb.s1, vc.s2, vd.s1, vc.s0);
- rgb.x = (k22*(vb.s2+vd.s0)*0.5+k24*(vb.s0+vd.s2)*0.5)/(k22+k24); // R_B
- rgb.y = (k21*(vb.s1+vd.s1)*0.5+k23*(vc.s2+vc.s0)*0.5)/(k21+k23); // G_B
- rgb.z = vc.s1; // B
- rgb_out[2] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
-
- const float k31 = get_k(vb.s1, vc.s2, vb.s3, vc.s2);
- const float k32 = get_k(vb.s3, vc.s2, vd.s3, vc.s2);
- const float k33 = get_k(vd.s1, vc.s2, vd.s3, vc.s2);
- const float k34 = get_k(vb.s1, vc.s2, vd.s1, vc.s2);
- rgb.x = (k31*vb.s2+k33*vd.s2)/(k31+k33); // R_G2
- rgb.y = vc.s2; // G2(B)
- rgb.z = (k32*vc.s3+k34*vc.s1)/(k32+k34); // B_G2
- rgb_out[3] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+ const float k01 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[0].s2, v_rows[1].s1);
+ const float k02 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
+ const float k03 = get_k(v_rows[2].s0, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
+ const float k04 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[2].s0, v_rows[1].s1);
+ rgb.x = (k02*v_rows[1].s2+k04*v_rows[1].s0)/(k02+k04); // R_G1
+ rgb.y = v_rows[1].s1; // G1(R)
+ rgb.z = (k01*v_rows[0].s1+k03*v_rows[2].s1)/(k01+k03); // B_G1
+ rgb_out[rgb_write_order[0]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+ const float k11 = get_k(v_rows[0].s1, v_rows[2].s1, v_rows[0].s3, v_rows[2].s3);
+ const float k12 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[1].s3, v_rows[2].s2);
+ const float k13 = get_k(v_rows[0].s1, v_rows[0].s3, v_rows[2].s1, v_rows[2].s3);
+ const float k14 = get_k(v_rows[0].s2, v_rows[1].s3, v_rows[2].s2, v_rows[1].s1);
+ rgb.x = v_rows[1].s2; // R
+ rgb.y = (k11*(v_rows[0].s2+v_rows[2].s2)*0.5+k13*(v_rows[1].s3+v_rows[1].s1)*0.5)/(k11+k13); // G_R
+ rgb.z = (k12*(v_rows[0].s3+v_rows[2].s1)*0.5+k14*(v_rows[0].s1+v_rows[2].s3)*0.5)/(k12+k14); // B_R
+ rgb_out[rgb_write_order[1]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+ const float k21 = get_k(v_rows[1].s0, v_rows[3].s0, v_rows[1].s2, v_rows[3].s2);
+ const float k22 = get_k(v_rows[1].s1, v_rows[2].s0, v_rows[2].s2, v_rows[3].s1);
+ const float k23 = get_k(v_rows[1].s0, v_rows[1].s2, v_rows[3].s0, v_rows[3].s2);
+ const float k24 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s0);
+ rgb.x = (k22*(v_rows[1].s2+v_rows[3].s0)*0.5+k24*(v_rows[1].s0+v_rows[3].s2)*0.5)/(k22+k24); // R_B
+ rgb.y = (k21*(v_rows[1].s1+v_rows[3].s1)*0.5+k23*(v_rows[2].s2+v_rows[2].s0)*0.5)/(k21+k23); // G_B
+ rgb.z = v_rows[2].s1; // B
+ rgb_out[rgb_write_order[2]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+ const float k31 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[1].s3, v_rows[2].s2);
+ const float k32 = get_k(v_rows[1].s3, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
+ const float k33 = get_k(v_rows[3].s1, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
+ const float k34 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s2);
+ rgb.x = (k31*v_rows[1].s2+k33*v_rows[3].s2)/(k31+k33); // R_G2
+ rgb.y = v_rows[2].s2; // G2(B)
+ rgb.z = (k32*v_rows[2].s3+k34*v_rows[2].s1)/(k32+k34); // B_G2
+ rgb_out[rgb_write_order[3]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
// write ys
uchar2 yy = (uchar2)(
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
index 1ca4b3f1ad..5c4934fb61 100644
--- a/system/camerad/sensors/ar0231.cc
+++ b/system/camerad/sensors/ar0231.cc
@@ -80,14 +80,14 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
AR0231::AR0231() {
image_sensor = cereal::FrameData::ImageSensor::AR0231;
data_word = true;
- frame_width = FRAME_WIDTH;
- frame_height = FRAME_HEIGHT;
- frame_stride = FRAME_STRIDE;
+ frame_width = 1928;
+ frame_height = 1208;
+ frame_stride = (frame_width * 12 / 8) + 4;
extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
registers_offset = 0;
frame_offset = AR0231_REGISTERS_HEIGHT;
- stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT;
+ stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 449e06be83..aaef9986b5 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -10,14 +10,11 @@ const float sensor_analog_gains_OS04C10[] = {
10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5};
const uint32_t os04c10_analog_gains_reg[] = {
- 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0,
- 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300,
- 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580,
- 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
- 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
-
-const uint32_t VS_TIME_MIN_OS04C10 = 1;
-//const uint32_t VS_TIME_MAX_OS04C10 = 34; // vs < 35
+ 0x080, 0x088, 0x090, 0x098, 0x0A0, 0x0A8, 0x0B0, 0x0B8, 0x0C0, 0x0C8, 0x0D8,
+ 0x0E8, 0x0F8, 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180,
+ 0x190, 0x1B0, 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0,
+ 0x2E0, 0x300, 0x320, 0x340, 0x380, 0x3C0, 0x400, 0x440, 0x480, 0x4C0, 0x500,
+ 0x540, 0x580, 0x5C0, 0x600, 0x640, 0x680, 0x6C0, 0x700, 0x740, 0x780, 0x7C0};
} // namespace
@@ -25,15 +22,9 @@ OS04C10::OS04C10() {
image_sensor = cereal::FrameData::ImageSensor::OS04C10;
data_word = false;
- frame_width = 1920;
- frame_height = 1080;
- frame_stride = (1920*10/8);
-
- /*
- frame_width = 0xa80;
- frame_height = 0x5f0;
- frame_stride = 0xd20;
- */
+ frame_width = 2688;
+ frame_height = 1520;
+ frame_stride = (frame_width * 12 / 8); // no alignment
extra_height = 0;
frame_offset = 0;
@@ -42,17 +33,17 @@ OS04C10::OS04C10() {
init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
probe_reg_addr = 0x300a;
probe_expected_data = 0x5304;
- mipi_format = CAM_FORMAT_MIPI_RAW_10;
- frame_data_type = 0x2b;
+ mipi_format = CAM_FORMAT_MIPI_RAW_12;
+ frame_data_type = 0x2c;
mclk_frequency = 24000000; // Hz
- dc_gain_factor = 7.32;
+ dc_gain_factor = 1;
dc_gain_min_weight = 1; // always on is fine
dc_gain_max_weight = 1;
dc_gain_on_grey = 0.9;
dc_gain_off_grey = 1.0;
exposure_time_min = 2; // 1x
- exposure_time_max = 2016;
+ exposure_time_max = 2200;
analog_gain_min_idx = 0x0;
analog_gain_rec_idx = 0x0; // 1x
analog_gain_max_idx = 0x36;
@@ -62,30 +53,22 @@ OS04C10::OS04C10() {
for (int i = 0; i <= analog_gain_max_idx; i++) {
sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
}
- min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx];
+ min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
target_grey_factor = 0.01;
}
std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
- // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
- uint32_t hcg_time = exposure_time;
- //uint32_t lcg_time = hcg_time;
- //uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10);
- //uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10);
-
+ uint32_t long_time = exposure_time;
uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g];
- hcg_time = 100;
- real_gain = 0x320;
+ // uint32_t short_time = long_time > exposure_time_min*8 ? long_time / 8 : exposure_time_min;
return {
- {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
- //{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
- //{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
- //{0x35c2, vs_time&0xFF},
-
+ {0x3501, long_time>>8}, {0x3502, long_time&0xFF},
+ // {0x3511, short_time>>8}, {0x3512, short_time&0xFF},
{0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
+ // {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF},
};
}
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index ad91a02950..f2388d91b8 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,43 +4,33 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
const struct i2c_random_wr_payload init_array_os04c10[] = {
- // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+ // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
{0x0103, 0x01},
- {0x0301, 0x84},
+
+ // PLL
+ {0x0301, 0xe4},
{0x0303, 0x01},
- {0x0305, 0x5b},
+ {0x0305, 0xb6},
{0x0306, 0x01},
{0x0307, 0x17},
{0x0323, 0x04},
{0x0324, 0x01},
{0x0325, 0x62},
+
{0x3012, 0x06},
{0x3013, 0x02},
{0x3016, 0x72},
{0x3021, 0x03},
{0x3106, 0x21},
{0x3107, 0xa1},
- {0x3500, 0x00},
- {0x3501, 0x00},
- {0x3502, 0x40},
- {0x3503, 0x88},
- {0x3508, 0x07},
- {0x3509, 0xc0},
- {0x350a, 0x04},
- {0x350b, 0x00},
- {0x350c, 0x07},
- {0x350d, 0xc0},
- {0x350e, 0x04},
- {0x350f, 0x00},
- {0x3510, 0x00},
- {0x3511, 0x00},
- {0x3512, 0x20},
+
+ // ?
{0x3624, 0x00},
{0x3625, 0x4c},
- {0x3660, 0x00},
+ {0x3660, 0x04},
{0x3666, 0xa5},
{0x3667, 0xa5},
- {0x366a, 0x64},
+ {0x366a, 0x50},
{0x3673, 0x0d},
{0x3672, 0x0d},
{0x3671, 0x0d},
@@ -63,22 +53,22 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x36a0, 0x12},
{0x36a1, 0x5d},
{0x36a2, 0x66},
- {0x370a, 0x00},
+ {0x370a, 0x02},
{0x370e, 0x0c},
{0x3710, 0x00},
{0x3713, 0x00},
{0x3725, 0x02},
{0x372a, 0x03},
{0x3738, 0xce},
- {0x3748, 0x00},
- {0x374a, 0x00},
- {0x374c, 0x00},
- {0x374e, 0x00},
+ {0x3748, 0x02},
+ {0x374a, 0x02},
+ {0x374c, 0x02},
+ {0x374e, 0x02},
{0x3756, 0x00},
- {0x3757, 0x0e},
+ {0x3757, 0x00},
{0x3767, 0x00},
{0x3771, 0x00},
- {0x377b, 0x20},
+ {0x377b, 0x28},
{0x377c, 0x00},
{0x377d, 0x0c},
{0x3781, 0x03},
@@ -111,6 +101,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3d8d, 0xe2},
{0x3f00, 0x0b},
{0x3f06, 0x04},
+
+ // BLC
{0x400a, 0x01},
{0x400b, 0x50},
{0x400e, 0x08},
@@ -118,7 +110,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4045, 0x7e},
{0x4047, 0x7e},
{0x4049, 0x7e},
- {0x4090, 0x14},
+ {0x4090, 0x04},
{0x40b0, 0x00},
{0x40b1, 0x00},
{0x40b2, 0x00},
@@ -128,24 +120,25 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x40b7, 0x00},
{0x40b8, 0x00},
{0x40b9, 0x00},
- {0x40ba, 0x00},
+ {0x40ba, 0x01},
+
{0x4301, 0x00},
{0x4303, 0x00},
{0x4502, 0x04},
{0x4503, 0x00},
{0x4504, 0x06},
{0x4506, 0x00},
- {0x4507, 0x64},
+ {0x4507, 0x47},
{0x4803, 0x00},
{0x480c, 0x32},
- {0x480e, 0x00},
- {0x4813, 0x00},
+ {0x480e, 0x04},
+ {0x4813, 0xe4},
{0x4819, 0x70},
{0x481f, 0x30},
{0x4823, 0x3f},
{0x4825, 0x30},
{0x4833, 0x10},
- {0x484b, 0x07},
+ {0x484b, 0x27},
{0x488b, 0x00},
{0x4d00, 0x04},
{0x4d01, 0xad},
@@ -156,31 +149,37 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4d0b, 0x01},
{0x4e00, 0x2a},
{0x4e0d, 0x00},
+
+ // ISP
{0x5001, 0x09},
{0x5004, 0x00},
{0x5080, 0x04},
- {0x5036, 0x00},
+ {0x5036, 0x80},
{0x5180, 0x70},
{0x5181, 0x10},
+
+ // DPC
{0x520a, 0x03},
{0x520b, 0x06},
{0x520c, 0x0c},
+
{0x580b, 0x0f},
{0x580d, 0x00},
{0x580f, 0x00},
{0x5820, 0x00},
{0x5821, 0x00},
+
{0x301c, 0xf8},
{0x301e, 0xb4},
- {0x301f, 0xd0},
- {0x3022, 0x01},
+ {0x301f, 0xf0},
+ {0x3022, 0x61},
{0x3109, 0xe7},
{0x3600, 0x00},
{0x3610, 0x65},
{0x3611, 0x85},
{0x3613, 0x3a},
{0x3615, 0x60},
- {0x3621, 0x90},
+ {0x3621, 0xb0},
{0x3620, 0x0c},
{0x3629, 0x00},
{0x3661, 0x04},
@@ -194,9 +193,9 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3701, 0x12},
{0x3703, 0x28},
{0x3704, 0x0e},
- {0x3706, 0x4a},
+ {0x3706, 0x9d},
{0x3709, 0x4a},
- {0x370b, 0xa2},
+ {0x370b, 0x48},
{0x370c, 0x01},
{0x370f, 0x04},
{0x3714, 0x24},
@@ -206,19 +205,19 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3720, 0x00},
{0x3724, 0x13},
{0x373f, 0xb0},
- {0x3741, 0x4a},
- {0x3743, 0x4a},
- {0x3745, 0x4a},
- {0x3747, 0x4a},
- {0x3749, 0xa2},
- {0x374b, 0xa2},
- {0x374d, 0xa2},
- {0x374f, 0xa2},
+ {0x3741, 0x9d},
+ {0x3743, 0x9d},
+ {0x3745, 0x9d},
+ {0x3747, 0x9d},
+ {0x3749, 0x48},
+ {0x374b, 0x48},
+ {0x374d, 0x48},
+ {0x374f, 0x48},
{0x3755, 0x10},
{0x376c, 0x00},
- {0x378d, 0x30},
- {0x3790, 0x4a},
- {0x3791, 0xa2},
+ {0x378d, 0x3c},
+ {0x3790, 0x01},
+ {0x3791, 0x01},
{0x3798, 0x40},
{0x379e, 0x00},
{0x379f, 0x04},
@@ -249,29 +248,25 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4041, 0x07},
{0x4008, 0x02},
{0x4009, 0x0d},
- {0x3800, 0x01},
- {0x3801, 0x80},
- {0x3802, 0x00},
- {0x3803, 0xdc},
- {0x3804, 0x09},
- {0x3805, 0x0f},
- {0x3806, 0x05},
- {0x3807, 0x23},
- {0x3808, 0x07},
- {0x3809, 0x80},
- {0x380a, 0x04},
- {0x380b, 0x38},
- {0x380c, 0x04},
- {0x380d, 0x2e},
- {0x380e, 0x12},
- {0x380f, 0x70},
+
+ // 2704x1536 -> 2688x1520 out
+ {0x3800, 0x00}, {0x3801, 0x00},
+ {0x3802, 0x00}, {0x3803, 0x00},
+ {0x3804, 0x0a}, {0x3805, 0x8f},
+ {0x3806, 0x05}, {0x3807, 0xff},
+ {0x3808, 0x0a}, {0x3809, 0x80},
+ {0x380a, 0x05}, {0x380b, 0xf0},
{0x3811, 0x08},
{0x3813, 0x08},
{0x3814, 0x01},
{0x3815, 0x01},
{0x3816, 0x01},
{0x3817, 0x01},
- {0x3820, 0xB0},
+
+ {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+ {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+
+ {0x3820, 0xb0},
{0x3821, 0x00},
{0x3880, 0x25},
{0x3882, 0x20},
@@ -281,12 +276,12 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3cae, 0x00},
{0x4000, 0xf3},
{0x4001, 0x60},
- {0x4003, 0x40},
+ {0x4003, 0x80},
{0x4300, 0xff},
{0x4302, 0x0f},
{0x4305, 0x83},
{0x4505, 0x84},
- {0x4809, 0x1e},
+ {0x4809, 0x0e},
{0x480a, 0x04},
{0x4837, 0x15},
{0x4c00, 0x08},
@@ -294,5 +289,25 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4c04, 0x00},
{0x4c05, 0x00},
{0x5000, 0xf9},
- {0x3c8c, 0x10},
+ {0x3822, 0x14},
+
+ // initialize exposure
+ {0x3503, 0x88},
+
+ // long
+ {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x80},
+ {0x3508, 0x00}, {0x3509, 0x80},
+ {0x350a, 0x04}, {0x350b, 0x00},
+
+ // short
+ // {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x10},
+ // {0x350c, 0x00}, {0x350d, 0x80},
+ // {0x350e, 0x04}, {0x350f, 0x00},
+
+ // wb
+ {0x5100, 0x06}, {0x5101, 0xcb},
+ {0x5102, 0x04}, {0x5103, 0x00},
+ {0x5104, 0x08}, {0x5105, 0xde},
+
+ {0x5106, 0x02}, {0x5107, 0x00},
};
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 1f0609820b..c74274872f 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -24,9 +24,9 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35
OX03C10::OX03C10() {
image_sensor = cereal::FrameData::ImageSensor::OX03C10;
data_word = false;
- frame_width = FRAME_WIDTH;
- frame_height = FRAME_HEIGHT;
- frame_stride = FRAME_STRIDE; // (0xa80*12//8)
+ frame_width = 1928;
+ frame_height = 1208;
+ frame_stride = (frame_width * 12 / 8) + 4;
extra_height = 16; // top 2 + bot 14
frame_offset = 2;
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 4e2194d914..d97fd32a9c 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -12,10 +12,6 @@
#include "system/camerad/sensors/os04c10_registers.h"
#define ANALOG_GAIN_MAX_CNT 55
-const size_t FRAME_WIDTH = 1928;
-const size_t FRAME_HEIGHT = 1208;
-const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
-
class SensorInfo {
public:
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index c1cb9da438..45d20d976b 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -468,8 +468,9 @@ class Tici(HardwareBase):
# use sim slot
'AT^SIMSWAP=1',
- # configure ECM mode
- 'AT$QCPCFG=usbNet,1'
+ # ethernet config
+ 'AT$QCPCFG=usbNet,0',
+ 'AT$QCNETDEVCTL=3,1',
]
else:
cmds += [
diff --git a/system/qcomgpsd/cgpsd.py b/system/qcomgpsd/cgpsd.py
index c0edc721fa..04a92d4a45 100755
--- a/system/qcomgpsd/cgpsd.py
+++ b/system/qcomgpsd/cgpsd.py
@@ -83,7 +83,7 @@ def main():
dt = datetime.datetime.strptime(f"{date} {gnrmc[1]}", '%d%m%y %H%M%S.%f')
gps.unixTimestampMillis = dt.timestamp()*1e3
- gps.flags = 1 if gnrmc[1] == 'A' else 0
+ gps.hasFix = gnrmc[1] == 'A'
# TODO: make our own source
gps.source = log.GpsLocationData.SensorSource.qcomdiag
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 25b547cf5e..859e024e68 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -352,8 +352,8 @@ def main() -> NoReturn:
gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi if (report["q_FltHeadingUncRad"] != 0) else 180
gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
# quectel gps verticalAccuracy is clipped to 500, set invalid if so
- gps.flags = 1 if gps.verticalAccuracy != 500 else 0
- if gps.flags:
+ gps.hasFix = gps.verticalAccuracy != 500
+ if gps.hasFix:
want_assistance = False
stop_download_event.set()
pm.send('gpsLocation', msg)
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
index eb1a1e4b19..26b33a1e32 100644
--- a/system/ubloxd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -127,6 +127,7 @@ kj::Array UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal();
gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
gpsLoc.setFlags(msg->flags());
+ gpsLoc.setHasFix((msg->flags() % 2) == 1);
gpsLoc.setLatitude(msg->lat() * 1e-07);
gpsLoc.setLongitude(msg->lon() * 1e-07);
gpsLoc.setAltitude(msg->height() * 1e-03);
diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py
index 6d5f680247..17d3d28a2d 100755
--- a/tools/sim/scenarios/metadrive/stay_in_lane.py
+++ b/tools/sim/scenarios/metadrive/stay_in_lane.py
@@ -67,6 +67,7 @@ class MetaDriveBridge(SimulatorBridge):
crash_object_done=True,
traffic_density=0.0,
map_config=create_map(),
+ map_region_size=2048,
decision_repeat=1,
physics_world_step_size=self.TICKS_PER_FRAME/100,
preload_models=False