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IQ.Pilot Release Commit @ 661a2de

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IQ.Lvbs CI [bot]
2026-08-08 14:37:51 -05:00
parent a6c27ac169
commit a1ef7d6c80
211 changed files with 7332 additions and 2756 deletions
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1
common/SConscript
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@@ -6,6 +6,7 @@ common_libs = [
'util.cc',
'ratekeeper.cc',
'clutil.cc',
'yuv.cc',
]
_common = env.Library('common', common_libs, LIBS="json11")

4
common/params_keys.h
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@@ -21,6 +21,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"CalibrationParams", {PERSISTENT, BYTES}},
{"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
{"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
{"CanLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
{"CarBatteryCapacity", {PERSISTENT, INT}},
{"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
{"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
@@ -199,6 +200,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"OSMapsHeadingUp", {PERSISTENT, BOOL, "1"}},
{"OfflineTilesBaseUrl", {PERSISTENT, STRING}},
{"OnroadUploads", {PERSISTENT, BOOL, "1"}},
{"IQAutoUnits", {PERSISTENT, BOOL, "1"}},
{"IQAutoUnitsRegion", {PERSISTENT, STRING}},
{"IQAlertSilence", {PERSISTENT, BOOL, "0"}},
{"IQAccelMeter", {PERSISTENT, BOOL, "0"}},
{"IQBlinkerIndicators", {PERSISTENT, BOOL, "0"}},
@@ -349,6 +352,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"ConstructionZoneAssist", {PERSISTENT, BOOL, "0"}},
{"VisionVehicleTracks", {PERSISTENT, BOOL, "0"}},
{"AmbientTrackDots", {PERSISTENT, BOOL, "1"}},
{"EnvironmentView", {PERSISTENT, INT, "0"}},
{"ConstructionZoneSpeed", {PERSISTENT, INT, "60"}},
{"ShowSpeedLimits", {PERSISTENT, BOOL, "0"}},
{"SLCPolicy", {PERSISTENT, INT, "1"}},

25
common/tests/native_test.h Normal file
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@@ -0,0 +1,25 @@
#pragma once
#include <iostream>
#include <stdexcept>
#include <string>
inline void native_test_check(bool condition, const char *expression, const char *file, int line) {
if (!condition) {
throw std::runtime_error(std::string(file) + ":" + std::to_string(line) + ": check failed: " + expression);
}
}
#define CHECK(condition) native_test_check(static_cast<bool>(condition), #condition, __FILE__, __LINE__)
#define REQUIRE(...) CHECK((__VA_ARGS__))
template <typename Function>
int run_native_test(Function &&function) {
try {
function();
return 0;
} catch (const std::exception &error) {
std::cerr << error.what() << '\n';
return 1;
}
}

132
common/yuv.cc Normal file
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@@ -0,0 +1,132 @@
#include "common/yuv.h"
#include <algorithm>
#include <cstring>
namespace yuv {
namespace {
inline uint8_t clamp_u8(int v) {
return static_cast<uint8_t>(std::clamp(v, 0, 255));
}
void copy_plane(const uint8_t *src, int src_stride,
uint8_t *dst, int dst_stride,
int width, int height) {
if (src_stride == width && dst_stride == width) {
std::memcpy(dst, src, static_cast<size_t>(width) * height);
return;
}
for (int y = 0; y < height; ++y) {
std::memcpy(dst + y * dst_stride, src + y * src_stride, width);
}
}
void scale_plane_point(const uint8_t *src, int src_stride, int src_width, int src_height,
uint8_t *dst, int dst_stride, int dst_width, int dst_height) {
if (src_width == dst_width && src_height == dst_height) {
copy_plane(src, src_stride, dst, dst_stride, dst_width, dst_height);
return;
}
for (int y = 0; y < dst_height; ++y) {
const int sy = y * src_height / dst_height;
const uint8_t *src_row = src + sy * src_stride;
uint8_t *dst_row = dst + y * dst_stride;
for (int x = 0; x < dst_width; ++x) {
dst_row[x] = src_row[x * src_width / dst_width];
}
}
}
// BT.601 limited range → RGB (integer form used widely, incl. similar to libyuv).
inline void yuv_to_rgb(int y, int u, int v, uint8_t *r, uint8_t *g, uint8_t *b) {
const int c = (y - 16) * 298;
const int d = u - 128;
const int e = v - 128;
*r = clamp_u8((c + 409 * e + 128) >> 8);
*g = clamp_u8((c - 100 * d - 208 * e + 128) >> 8);
*b = clamp_u8((c + 516 * d + 128) >> 8);
}
} // namespace
void nv12_to_i420(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_uv, int src_stride_uv,
uint8_t *dst_y, int dst_stride_y,
uint8_t *dst_u, int dst_stride_u,
uint8_t *dst_v, int dst_stride_v,
int width, int height) {
copy_plane(src_y, src_stride_y, dst_y, dst_stride_y, width, height);
const int uv_width = width / 2;
const int uv_height = height / 2;
for (int y = 0; y < uv_height; ++y) {
const uint8_t *uv = src_uv + y * src_stride_uv;
uint8_t *u = dst_u + y * dst_stride_u;
uint8_t *v = dst_v + y * dst_stride_v;
for (int x = 0; x < uv_width; ++x) {
u[x] = uv[2 * x];
v[x] = uv[2 * x + 1];
}
}
}
void i420_to_nv12(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_u, int src_stride_u,
const uint8_t *src_v, int src_stride_v,
uint8_t *dst_y, int dst_stride_y,
uint8_t *dst_uv, int dst_stride_uv,
int width, int height) {
copy_plane(src_y, src_stride_y, dst_y, dst_stride_y, width, height);
const int uv_width = width / 2;
const int uv_height = height / 2;
for (int y = 0; y < uv_height; ++y) {
const uint8_t *u = src_u + y * src_stride_u;
const uint8_t *v = src_v + y * src_stride_v;
uint8_t *uv = dst_uv + y * dst_stride_uv;
for (int x = 0; x < uv_width; ++x) {
uv[2 * x] = u[x];
uv[2 * x + 1] = v[x];
}
}
}
void i420_scale(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_u, int src_stride_u,
const uint8_t *src_v, int src_stride_v,
int src_width, int src_height,
uint8_t *dst_y, int dst_stride_y,
uint8_t *dst_u, int dst_stride_u,
uint8_t *dst_v, int dst_stride_v,
int dst_width, int dst_height) {
scale_plane_point(src_y, src_stride_y, src_width, src_height,
dst_y, dst_stride_y, dst_width, dst_height);
scale_plane_point(src_u, src_stride_u, src_width / 2, src_height / 2,
dst_u, dst_stride_u, dst_width / 2, dst_height / 2);
scale_plane_point(src_v, src_stride_v, src_width / 2, src_height / 2,
dst_v, dst_stride_v, dst_width / 2, dst_height / 2);
}
void nv12_to_rgba(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_uv, int src_stride_uv,
uint8_t *dst_rgba, int dst_stride_rgba,
int width, int height) {
for (int y = 0; y < height; ++y) {
const uint8_t *y_row = src_y + y * src_stride_y;
const uint8_t *uv_row = src_uv + (y / 2) * src_stride_uv;
uint8_t *dst = dst_rgba + y * dst_stride_rgba;
for (int x = 0; x < width; ++x) {
const int uv_x = (x & ~1);
uint8_t r, g, b;
yuv_to_rgb(y_row[x], uv_row[uv_x], uv_row[uv_x + 1], &r, &g, &b);
dst[4 * x + 0] = r;
dst[4 * x + 1] = g;
dst[4 * x + 2] = b;
dst[4 * x + 3] = 255;
}
}
}
} // namespace yuv

42
common/yuv.h Normal file
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@@ -0,0 +1,42 @@
#pragma once
#include <cstdint>
// NV12: Y plane + interleaved UV. I420: planar Y, U, V.
namespace yuv {
// Deinterleave NV12 UV into planar I420.
void nv12_to_i420(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_uv, int src_stride_uv,
uint8_t *dst_y, int dst_stride_y,
uint8_t *dst_u, int dst_stride_u,
uint8_t *dst_v, int dst_stride_v,
int width, int height);
// Interleave planar I420 UV into NV12.
void i420_to_nv12(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_u, int src_stride_u,
const uint8_t *src_v, int src_stride_v,
uint8_t *dst_y, int dst_stride_y,
uint8_t *dst_uv, int dst_stride_uv,
int width, int height);
// Point-sample scale I420 (equivalent to libyuv::I420Scale + kFilterNone).
void i420_scale(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_u, int src_stride_u,
const uint8_t *src_v, int src_stride_v,
int src_width, int src_height,
uint8_t *dst_y, int dst_stride_y,
uint8_t *dst_u, int dst_stride_u,
uint8_t *dst_v, int dst_stride_v,
int dst_width, int dst_height);
// Convert NV12 to packed RGBA (R,G,B,A bytes — suitable for GL_RGBA).
// BT.601 limited-range, matching common libyuv defaults.
void nv12_to_rgba(const uint8_t *src_y, int src_stride_y,
const uint8_t *src_uv, int src_stride_uv,
uint8_t *dst_rgba, int dst_stride_rgba,
int width, int height);
}