camerad: optional exposure params overrides (#25616)

* add params override

* speedup

* put in param list

* clean up names

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: e9258cccbe

common/params.cc

@@ -88,6 +88,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
+    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
+    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},

system/camerad/cameras/camera_common.h

@@ -40,6 +40,7 @@ const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
 const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
+const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
 
 typedef struct CameraInfo {
   uint32_t frame_width, frame_height;

system/camerad/cameras/camera_qcom2.cc

@@ -1101,36 +1101,48 @@ void CameraState::set_camera_exposure(float grey_frac) {
   } else if (enable_dc_gain && target_grey > 0.3) {
     enable_dc_gain = false;
   }
+  if (env_ctrl_exp_from_params) {
+    // Override gain and exposure time
+    if (buf.cur_frame_data.frame_id % 5 == 0) {
+      std::string gain_bytes = Params().get("CameraDebugExpGain");
+      std::string time_bytes = Params().get("CameraDebugExpTime");
+      gain_idx = std::stoi(gain_bytes);
+      exposure_time = std::stoi(time_bytes);
+    }
+    new_g = gain_idx;
+    new_t = exposure_time;
+    enable_dc_gain = false;
+  } else {
+    // Simple brute force optimizer to choose sensor parameters
+    // to reach desired EV
+    for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) {
+      float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1);
 
-  // Simple brute force optimizer to choose sensor parameters
+      // Compute optimal time for given gain
-  // to reach desired EV
+      int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX);
-  for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) {
-    float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1);
-
-    // Compute optimal time for given gain
-    int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX);
 
-    // Only go below recommended gain when absolutely necessary to not overexpose
+      // Only go below recommended gain when absolutely necessary to not overexpose
-    if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) {
+      if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) {
-      continue;
+        continue;
-    }
+      }
 
-    // Compute error to desired ev
+      // Compute error to desired ev
-    float score = std::abs(desired_ev - (t * gain)) * 10;
+      float score = std::abs(desired_ev - (t * gain)) * 10;
 
-    // Going below recommended gain needs lower penalty to not overexpose
+      // Going below recommended gain needs lower penalty to not overexpose
-    float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1;
+      float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1;
-    score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m;
+      score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m;
 
-    // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);
+      // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);
 
-    // Small penalty on changing gain
+      // Small penalty on changing gain
-    score += std::abs(g - gain_idx) * (score + 1.0) / 10.0;
+      score += std::abs(g - gain_idx) * (score + 1.0) / 10.0;
 
-    if (score < best_ev_score) {
+      if (score < best_ev_score) {
-      new_t = t;
+        new_t = t;
-      new_g = g;
+        new_g = g;
-      best_ev_score = score;
+        best_ev_score = score;
+      }
     }
   }
 

system/camerad/cameras/camera_qcom2.h

@@ -7,6 +7,7 @@
 #include <media/cam_req_mgr.h>
 
 #include "system/camerad/cameras/camera_common.h"
+#include "common/params.h"
 #include "common/util.h"
 
 #define FRAME_BUF_COUNT 4