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camera frame stream cleanup (#19741) 

* clean up

* more clean up first
albatross
Adeeb Shihadeh 2021-01-19 14:40:47 -08:00 committed by GitHub
parent 1dd3a1e861
commit eae7a6ed22
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 27 additions and 57 deletions
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2
selfdrive/camerad/cameras/camera_common.cc
View File

@ -339,7 +339,7 @@ void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, in
extern ExitHandler do_exit;
void *processing_thread(MultiCameraState *cameras, const char *tname,
CameraState *cs, process_thread_cb callback) {
CameraState *cs, process_thread_cb callback) {
set_thread_name(tname);
for (int cnt = 0; !do_exit; cnt++) {

2
selfdrive/camerad/cameras/camera_common.h
View File

@ -135,5 +135,5 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
void fill_frame_image(cereal::FrameData::Builder &framed, const CameraBuf *b);
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
CameraState *cs, process_thread_cb callback);
CameraState *cs, process_thread_cb callback);
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);

80
selfdrive/camerad/cameras/camera_frame_stream.cc
View File

@ -2,31 +2,18 @@
#include <unistd.h>
#include <cassert>
#include <string.h>
#include <libyuv.h>
#include <capnp/dynamic.h>
#include "messaging.hpp"
#include "common/util.h"
#include "common/timing.h"
#include "common/swaglog.h"
extern "C" {
#include <libavcodec/avcodec.h>
}
extern ExitHandler do_exit;
#define FRAME_WIDTH 1164
#define FRAME_HEIGHT 874
namespace {
void camera_open(CameraState *s, bool rear) {
}
extern ExitHandler do_exit;
void camera_close(CameraState *s) {
// empty
}
namespace {
void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
assert(camera_id < ARRAYSIZE(cameras_supported));
@ -37,38 +24,36 @@ void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned in
s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
}
void run_frame_stream(MultiCameraState *s) {
s->sm = new SubMaster({"frame"});
CameraState *const rear_camera = &s->rear;
void run_frame_stream(CameraState &camera, const char* frame_pkt) {
SubMaster sm({frame_pkt});
size_t buf_idx = 0;
while (!do_exit) {
if (s->sm->update(1000) == 0) continue;
if (sm.update(1000) == 0) continue;
auto frame = (*(s->sm))["frame"].getFrame();
rear_camera->buf.camera_bufs_metadata[buf_idx] = {
.frame_id = frame.getFrameId(),
.timestamp_eof = frame.getTimestampEof(),
.frame_length = static_cast<unsigned>(frame.getFrameLength()),
.integ_lines = static_cast<unsigned>(frame.getIntegLines()),
.global_gain = static_cast<unsigned>(frame.getGlobalGain()),
auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
camera.buf.camera_bufs_metadata[buf_idx] = {
.frame_id = frame.get("frameId").as<uint32_t>(),
.timestamp_eof = frame.get("timestampEof").as<uint64_t>(),
.frame_length = frame.get("frameLength").as<unsigned>(),
.integ_lines = frame.get("integLines").as<unsigned>(),
.global_gain = frame.get("globalGain").as<unsigned>(),
};
cl_command_queue q = rear_camera->buf.camera_bufs[buf_idx].copy_q;
cl_mem yuv_cl = rear_camera->buf.camera_bufs[buf_idx].buf_cl;
cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q;
cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl;
clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, frame.getImage().size(), frame.getImage().begin(), 0, NULL, NULL);
rear_camera->buf.queue(buf_idx);
auto image = frame.get("image").as<capnp::Data>();
clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL);
camera.buf.queue(buf_idx);
buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
}
delete s->sm;
}
} // namespace
// TODO: make this more generic
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
[CAMERA_ID_IMX298] = {
.frame_width = FRAME_WIDTH,
@ -94,29 +79,14 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
}
void cameras_open(MultiCameraState *s) {}
void cameras_close(MultiCameraState *s) {}
void camera_autoexposure(CameraState *s, float grey_frac) {}
void cameras_open(MultiCameraState *s) {
// LOG("*** open front ***");
camera_open(&s->front, false);
// LOG("*** open rear ***");
camera_open(&s->rear, true);
}
void cameras_close(MultiCameraState *s) {
camera_close(&s->rear);
}
// called by processing_thread
void camera_process_rear(MultiCameraState *s, CameraState *c, int cnt) {
// empty
}
void camera_process_rear(MultiCameraState *s, CameraState *c, int cnt) {}
void cameras_run(MultiCameraState *s) {
std::thread t = start_process_thread(s, "processing", &s->rear, camera_process_rear);
set_thread_name("frame_streaming");
run_frame_stream(s);
run_frame_stream(s->rear, "frame");
t.join();
cameras_close(s);
}