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cameras_qcom: use std::mutex (#20181)

albatross
Dean Lee 2021-03-03 18:48:49 +08:00 committed by GitHub
parent ae72d34a42
commit f5109d9207
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 7 additions and 15 deletions
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20
selfdrive/camerad/cameras/camera_qcom.cc
View File

@ -113,8 +113,6 @@ static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int c
s->self_recover = 0;
s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type, camera_release_buffer);
pthread_mutex_init(&s->frame_info_lock, NULL);
}
int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, msm_camera_i2c_data_type data_type) {
@ -317,19 +315,17 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
}
if (err == 0) {
pthread_mutex_lock(&s->frame_info_lock);
std::lock_guard lk(s->frame_info_lock);
s->cur_gain = gain;
s->cur_integ_lines = integ_lines;
s->cur_frame_length = frame_length;
pthread_mutex_unlock(&s->frame_info_lock);
}
}
if (err == 0) {
s->cur_exposure_frac = exposure_frac;
pthread_mutex_lock(&s->frame_info_lock);
std::lock_guard lk(s->frame_info_lock);
s->cur_gain_frac = gain_frac;
pthread_mutex_unlock(&s->frame_info_lock);
}
//LOGD("set exposure: %f %f - %d", exposure_frac, gain_frac, err);
@ -355,9 +351,9 @@ static void do_autoexposure(CameraState *s, float grey_frac) {
} else if (cur_gain_frac * exposure_factor <= gain_frac_max && cur_gain_frac * exposure_factor >= gain_frac_min) {
cur_gain_frac *= exposure_factor;
}
pthread_mutex_lock(&s->frame_info_lock);
s->frame_info_lock.lock();
s->cur_gain_frac = cur_gain_frac;
pthread_mutex_unlock(&s->frame_info_lock);
s->frame_info_lock.unlock();
set_exposure(s, s->cur_exposure_frac, cur_gain_frac);
} else { // keep the old for others
@ -1180,15 +1176,12 @@ const char* get_isp_event_name(unsigned int type) {
}
static FrameMetadata get_frame_metadata(CameraState *s, uint32_t frame_id) {
pthread_mutex_lock(&s->frame_info_lock);
std::lock_guard lk(s->frame_info_lock);
for (auto &i : s->frame_metadata) {
if (i.frame_id == frame_id) {
pthread_mutex_unlock(&s->frame_info_lock);
return i;
}
}
pthread_mutex_unlock(&s->frame_info_lock);
// should never happen
return (FrameMetadata){
.frame_id = (uint32_t)-1,
@ -1357,7 +1350,7 @@ void cameras_run(MultiCameraState *s) {
} else if (ev.type == ISP_EVENT_EOF) {
const uint64_t timestamp = (isp_event_data->mono_timestamp.tv_sec * 1000000000ULL + isp_event_data->mono_timestamp.tv_usec * 1000);
pthread_mutex_lock(&c->frame_info_lock);
std::lock_guard lk(c->frame_info_lock);
c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){
.frame_id = isp_event_data->frame_id,
.timestamp_eof = timestamp,
@ -1371,7 +1364,6 @@ void cameras_run(MultiCameraState *s) {
.gain_frac = c->cur_gain_frac,
};
c->frame_metadata_idx = (c->frame_metadata_idx + 1) % METADATA_BUF_COUNT;
pthread_mutex_unlock(&c->frame_info_lock);
} else if (ev.type == ISP_EVENT_ERROR) {
LOGE("ISP_EVENT_ERROR! err type: 0x%08x", isp_event_data->u.error_info.err_type);

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

@ -60,7 +60,7 @@ typedef struct CameraState {
StreamState ss[3];
CameraBuf buf;
pthread_mutex_t frame_info_lock;
std::mutex frame_info_lock;
FrameMetadata frame_metadata[METADATA_BUF_COUNT];
int frame_metadata_idx;