tweaks and more tweaks

SConstruct

@@ -22,7 +22,7 @@ if arch == "aarch64":
   if is_tbp:
     webcam=True
     lenv = {
-      "LD_LIBRARY_PATH": '/usr/lib',
+      "LD_LIBRARY_PATH": '/usr/lib:/usr/local/lib/:/usr/lib/aarch64-linux-gnu',
       "PATH": os.environ['PATH'],
       "ANDROID_DATA": "/data",
       "ANDROID_ROOT": "/",

common/basedir.py

@@ -2,9 +2,13 @@
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
 from common.android import ANDROID
+WEBCAM = os.getenv("WEBCAM") is not None
 if ANDROID:
   PERSIST = "/persist"
   PARAMS = "/data/params"
+elif WEBCAM:
+  PERSIST = "/data/params/persist"
+  PARAMS = "/data/params"
 else:
   PERSIST = os.path.join(BASEDIR, "persist")
   PARAMS = os.path.join(BASEDIR, "persist", "params")

selfdrive/camerad/cameras/camera_webcam.cc

@@ -40,10 +40,10 @@ void camera_release_buffer(void *cookie, int buf_idx) {
 void open_gl_stream_def(CameraState * s, int video_id, int width, int height, char ** strm_def) {
   printf("OPENGLSTREAM");
   std::string  strm_template="v4l2src device=/dev/video%d  ! video/x-raw,width=%d,height=%d,framerate=%d/1,format=YUY2 !"
-  	                     "nvvidconv ! video/x-raw(memory:NVMM),format=I420 !"
-  	                     "nvvidconv ! video/x-raw,format=BGRx !"
-  	                     "videoconvert ! video/x-raw,format=BGR !"
-			     "videoscale ! video/x-raw,width=%d,height=%d !"
+  	                     " nvvidconv ! video/x-raw(memory:NVMM),format=I420 !"
+  	                     " nvvidconv ! video/x-raw,format=BGRx !"
+  	                     " videoconvert ! video/x-raw,format=BGR !"
+			     " videoscale ! video/x-raw,width=%d,height=%d !"
   			     " appsink ";  
   * strm_def = (char*)calloc(300,1);
   sprintf(*strm_def,strm_template.c_str(),video_id, width, height, s->fps, s->ci.frame_width, s->ci.frame_height);

selfdrive/manager.py

@@ -559,7 +559,8 @@ def main():
   os.environ['PARAMS_PATH'] = PARAMS
 
   # the flippening!
-  os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
+  if not WEBCAM:
+    os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
 
   # disable bluetooth
   os.system('service call bluetooth_manager 8')

selfdrive/modeld/runners/keras_runner.py

@@ -36,9 +36,13 @@ def run_loop(m):
   print(tf.__version__, file=sys.stderr)
   # limit gram alloc
   gpus = tf.config.experimental.list_physical_devices('GPU')
-  if len(gpus) > 0:
-    tf.config.experimental.set_virtual_device_configuration(gpus[0], [tf.config.experimental.VirtualDeviceConfiguration(memory_limit=2048)])
   name = sys.argv[1].split('.keras')[0]
+  if name == "supercombo":
+    if len(gpus) > 0:
+      tf.config.experimental.set_virtual_device_configuration(gpus[0], [tf.config.experimental.VirtualDeviceConfiguration(memory_limit=2048)])
+  else:
+    if len(gpus) > 0:
+      tf.config.experimental.set_virtual_device_configuration(gpus[0], [tf.config.experimental.VirtualDeviceConfiguration(memory_limit=1024)])
   with open(f"{name}.model.keras", "r") as json_file:
     m = model_from_json(json_file.read())
   m.load_weights(f"{name}.weights.keras")