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tici timing improvements (#2613) 

* relocate

* impatience

* should be fine without

Co-authored-by: Comma Device <device@comma.ai>
albatross
ZwX1616 2020-12-02 16:18:31 -08:00 committed by GitHub
parent e64484aecd
commit d3387d540a
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 16 additions and 12 deletions
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3
selfdrive/camerad/cameras/camera_common.cc
View File

@ -192,11 +192,12 @@ bool CameraBuf::acquire() {
pool_acquire(&yuv_pool, cur_yuv_idx);
pool_push(&yuv_pool, cur_yuv_idx);
tbuffer_dispatch(&ui_tb, cur_rgb_idx);
return true;
}
void CameraBuf::release() {
tbuffer_dispatch(&ui_tb, cur_rgb_idx);
pool_release(&yuv_pool, cur_yuv_idx);
}

25
selfdrive/camerad/cameras/camera_qcom2.cc
View File

@ -489,7 +489,7 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
release_fd(s->video0_fd, cam_packet_handle);
}
void enqueue_buffer(struct CameraState *s, int i) {
void enqueue_buffer(struct CameraState *s, int i, bool dp) {
int ret;
int request_id = s->request_ids[i];
@ -498,9 +498,12 @@ void enqueue_buffer(struct CameraState *s, int i) {
// wait
struct cam_sync_wait sync_wait = {0};
sync_wait.sync_obj = s->sync_objs[i];
sync_wait.timeout_ms = 50;
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = cam_control(s->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
// LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
s->buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
if (dp) tbuffer_dispatch(&s->buf.camera_tb, i);
// destroy old output fence
struct cam_sync_info sync_destroy = {0};
@ -543,10 +546,10 @@ void enqueue_buffer(struct CameraState *s, int i) {
config_isp(s, s->buf_handle[i], s->sync_objs[i], request_id, s->buf0_handle, 65632*(i+1));
}
void enqueue_req_multi(struct CameraState *s, int start, int n) {
void enqueue_req_multi(struct CameraState *s, int start, int n, bool dp) {
for (int i=start;i<start+n;++i) {
s->request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
enqueue_buffer(s, (i - 1) % FRAME_BUF_COUNT);
enqueue_buffer(s, (i - 1) % FRAME_BUF_COUNT, dp);
}
}
@ -797,7 +800,7 @@ static void camera_open(CameraState *s) {
LOGD("start sensor: %d", ret);
ret = device_control(s->sensor_fd, CAM_START_DEV, s->session_handle, s->sensor_dev_handle);
enqueue_req_multi(s, 1, FRAME_BUF_COUNT);
enqueue_req_multi(s, 1, FRAME_BUF_COUNT, 0);
}
void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
@ -935,7 +938,7 @@ void handle_camera_event(CameraState *s, void *evdat) {
if (main_id > s->frame_id_last + 1 && !s->skipped) {
// realign
clear_req_queue(s->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
enqueue_req_multi(s, real_id + 1, FRAME_BUF_COUNT - 1);
enqueue_req_multi(s, real_id + 1, FRAME_BUF_COUNT - 1, 0);
s->skipped = true;
} else if (main_id == s->frame_id_last + 1) {
s->skipped = false;
@ -943,26 +946,25 @@ void handle_camera_event(CameraState *s, void *evdat) {
// check for dropped requests
if (real_id > s->request_id_last + 1) {
enqueue_req_multi(s, s->request_id_last + 1 + FRAME_BUF_COUNT, real_id - (s->request_id_last + 1));
enqueue_req_multi(s, s->request_id_last + 1 + FRAME_BUF_COUNT, real_id - (s->request_id_last + 1), 0);
}
// metas
s->frame_id_last = main_id;
s->request_id_last = real_id;
s->buf.camera_bufs_metadata[buf_idx].frame_id = main_id - s->idx_offset;
s->buf.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp; // only has sof?
s->buf.camera_bufs_metadata[buf_idx].timestamp_sof = timestamp;
s->buf.camera_bufs_metadata[buf_idx].global_gain = s->analog_gain + (100*s->dc_gain_enabled);
s->buf.camera_bufs_metadata[buf_idx].gain_frac = s->analog_gain_frac;
s->buf.camera_bufs_metadata[buf_idx].integ_lines = s->exposure_time;
// dispatch
enqueue_req_multi(s, real_id + FRAME_BUF_COUNT, 1);
tbuffer_dispatch(&s->buf.camera_tb, buf_idx);
enqueue_req_multi(s, real_id + FRAME_BUF_COUNT, 1, 1);
} else { // not ready
// reset after half second of no response
if (main_id > s->frame_id_last + 10) {
clear_req_queue(s->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
enqueue_req_multi(s, s->request_id_last + 1, FRAME_BUF_COUNT);
enqueue_req_multi(s, s->request_id_last + 1, FRAME_BUF_COUNT, 0);
s->frame_id_last = main_id;
s->skipped = true;
}
@ -1119,6 +1121,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
s->pm->send(c == &s->rear ? "frame" : "wideFrame", msg);
if (c == &s->rear && cnt % 100 == 3) {
// this takes 10ms???
create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
}