improve tici camerad robustness (#2135)
* equalize performance on three threads * need to request first * clean up indexing * obsolete * handling skips and drops * clean up repeated chunks * use main frame id * oneshot * real skip check * move to test * should be cropped H here Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
ZwX1616
GitHub
parent
3801374da9
commit
13588e4255
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@ -129,6 +129,16 @@ void release_fd(int video0_fd, uint32_t handle) {
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release(video0_fd, handle);
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}
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void clear_req_queue(int fd, int32_t session_hdl, int32_t link_hdl) {
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struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
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req_mgr_flush_request.session_hdl = session_hdl;
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req_mgr_flush_request.link_hdl = link_hdl;
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req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
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int ret;
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ret = cam_control(fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
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// LOGD("flushed all req: %d", ret);
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}
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// ************** high level camera helpers ****************
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void sensors_poke(struct CameraState *s, int request_id) {
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@ -479,15 +489,15 @@ void config_isp(struct CameraState *s, int io_mem_handle, int fence, int request
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void enqueue_buffer(struct CameraState *s, int i) {
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int ret;
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int request_id = s->camera_bufs_metadata[i].frame_id;
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int request_id = s->request_ids[i];
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if (s->buf_handle[i]) {
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release(s->video0_fd, s->buf_handle[i]);
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// wait
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// struct cam_sync_wait sync_wait = {0};
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// sync_wait.sync_obj = s->sync_objs[i];
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// sync_wait.timeout_ms = 100;
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// ret = cam_control(s->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
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struct cam_sync_wait sync_wait = {0};
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sync_wait.sync_obj = s->sync_objs[i];
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sync_wait.timeout_ms = 50;
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ret = cam_control(s->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
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// LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
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// destroy old output fence
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@ -531,6 +541,12 @@ void enqueue_buffer(struct CameraState *s, int i) {
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config_isp(s, s->buf_handle[i], s->sync_objs[i], request_id, s->buf0_handle, 65632*(i+1));
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}
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void enqueue_req_multi(struct CameraState *s, int start, int n) {
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for (int i=start;i<start+n;++i) {
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s->request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
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enqueue_buffer(s, (i - 1) % FRAME_BUF_COUNT);
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}
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}
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// ******************* camera *******************
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@ -563,9 +579,8 @@ static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned
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s->analog_gain_frac = 1.0;
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s->analog_gain = 0x8;
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s->exposure_time = 598;
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s->frame_id = -1;
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s->first = true;
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//s->missed_frame = 0;
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s->request_id_last = 0;
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s->skipped = true;
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}
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static void camera_open(CameraState *s, VisionBuf* b) {
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@ -781,6 +796,7 @@ static void camera_open(CameraState *s, VisionBuf* b) {
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LOGD("start sensor: %d", ret);
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ret = device_control(s->sensor_fd, CAM_START_DEV, s->session_handle, s->sensor_dev_handle);
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enqueue_req_multi(s, 1, FRAME_BUF_COUNT);
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}
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void cameras_init(MultiCameraState *s) {
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@ -791,7 +807,7 @@ void cameras_init(MultiCameraState *s) {
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camera_init(&s->front, CAMERA_ID_AR0231, 2, 20);
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printf("front initted \n");
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#ifdef NOSCREEN
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zsock_t *rgb_sock = zsock_new_push("tcp://192.168.200.51:7768");
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zsock_t *rgb_sock = zsock_new_push("tcp://192.168.3.4:7768");
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assert(rgb_sock);
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s->rgb_sock = rgb_sock;
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#endif
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@ -904,26 +920,59 @@ static void cameras_close(MultiCameraState *s) {
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#endif
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}
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struct video_event_data {
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int32_t session_hdl;
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int32_t link_hdl;
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int32_t frame_id;
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int32_t reserved;
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int64_t req_id;
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uint64_t tv_sec;
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uint64_t tv_usec;
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};
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void handle_camera_event(CameraState *s, void *evdat) {
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struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
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uint64_t timestamp = event_data->u.frame_msg.timestamp;
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int main_id = event_data->u.frame_msg.frame_id;
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int real_id = event_data->u.frame_msg.request_id;
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if (real_id != 0) { // next ready
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if (real_id == 1) {s->idx_offset = main_id;}
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int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
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// check for skipped frames
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if (main_id > s->frame_id_last + 1 && !s->skipped) {
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// realign
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clear_req_queue(s->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
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enqueue_req_multi(s, real_id + 1, FRAME_BUF_COUNT - 1);
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s->skipped = true;
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} else if (main_id == s->frame_id_last + 1) {
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s->skipped = false;
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}
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// check for dropped requests
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if (real_id > s->request_id_last + 1) {
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enqueue_req_multi(s, s->request_id_last + 1 + FRAME_BUF_COUNT, real_id - (s->request_id_last + 1));
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}
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// metas
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s->frame_id_last = main_id;
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s->request_id_last = real_id;
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s->camera_bufs_metadata[buf_idx].frame_id = main_id - s->idx_offset;
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s->camera_bufs_metadata[buf_idx].timestamp_eof = timestamp; // only has sof?
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s->request_ids[buf_idx] = real_id + FRAME_BUF_COUNT;
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// dispatch
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tbuffer_dispatch(&s->camera_tb, buf_idx);
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} else { // not ready
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// reset after half second of no response
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if (main_id > s->frame_id_last + 10) {
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clear_req_queue(s->video0_fd, event_data->session_hdl, event_data->u.frame_msg.link_hdl);
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enqueue_req_multi(s, s->request_id_last + 1, FRAME_BUF_COUNT);
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s->frame_id_last = main_id;
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s->skipped = true;
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}
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}
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}
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void cameras_run(MultiCameraState *s) {
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// start devices
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LOG("-- Start devices");
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sensors_i2c(&s->rear, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload),
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CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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sensors_i2c(&s->wide, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload),
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CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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sensors_i2c(&s->front, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload),
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CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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int start_reg_len = sizeof(start_reg_array) / sizeof(struct i2c_random_wr_payload);
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sensors_i2c(&s->rear, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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sensors_i2c(&s->wide, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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sensors_i2c(&s->front, start_reg_array, start_reg_len, CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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// poll events
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LOG("-- Dequeueing Video events");
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@ -946,42 +995,18 @@ void cameras_run(MultiCameraState *s) {
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ret = ioctl(fds[0].fd, VIDIOC_DQEVENT, &ev);
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if (ev.type == 0x8000000) {
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struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data;
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uint64_t timestamp = event_data->u.frame_msg.timestamp;
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// LOGD("v4l2 event: sess_hdl %d, link_hdl %d, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
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// printf("sess_hdl %d, link_hdl %d, frame_id %lu, req_id %lu, timestamp 0x%lx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
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if (event_data->u.frame_msg.request_id != 0 || (event_data->u.frame_msg.request_id == 0 &&
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((s->rear.first && event_data->session_hdl == s->rear.req_mgr_session_info.session_hdl) ||
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(s->wide.first && event_data->session_hdl == s->wide.req_mgr_session_info.session_hdl) ||
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(s->front.first && event_data->session_hdl == s->front.req_mgr_session_info.session_hdl)))) {
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if (event_data->session_hdl == s->rear.req_mgr_session_info.session_hdl) {
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if (event_data->u.frame_msg.request_id > 0) {s->rear.first = false;}
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s->rear.frame_id++;
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//printf("rear %d\n", s->rear.frame_id);
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int buf_idx = s->rear.frame_id % FRAME_BUF_COUNT;
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s->rear.camera_bufs_metadata[buf_idx].frame_id = s->rear.frame_id;
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s->rear.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp; // only has sof?
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tbuffer_dispatch(&s->rear.camera_tb, buf_idx);
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} else if (event_data->session_hdl == s->wide.req_mgr_session_info.session_hdl) {
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if (event_data->u.frame_msg.request_id > 0) {s->wide.first = false;}
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s->wide.frame_id++;
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//printf("wide %d\n", s->wide.frame_id);
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int buf_idx = s->wide.frame_id % FRAME_BUF_COUNT;
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s->wide.camera_bufs_metadata[buf_idx].frame_id = s->wide.frame_id;
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s->wide.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp;
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tbuffer_dispatch(&s->wide.camera_tb, buf_idx);
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} else if (event_data->session_hdl == s->front.req_mgr_session_info.session_hdl) {
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if (event_data->u.frame_msg.request_id > 0) {s->front.first = false;}
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s->front.frame_id++;
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//printf("front %d\n", s->front.frame_id);
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int buf_idx = s->front.frame_id % FRAME_BUF_COUNT;
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s->front.camera_bufs_metadata[buf_idx].frame_id = s->front.frame_id;
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s->front.camera_bufs_metadata[buf_idx].timestamp_eof = timestamp;
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tbuffer_dispatch(&s->front.camera_tb, buf_idx);
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} else {
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printf("Unknown vidioc event source\n");
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assert(false);
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}
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if (event_data->session_hdl == s->rear.req_mgr_session_info.session_hdl) {
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handle_camera_event(&s->rear, event_data);
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} else if (event_data->session_hdl == s->wide.req_mgr_session_info.session_hdl) {
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handle_camera_event(&s->wide, event_data);
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} else if (event_data->session_hdl == s->front.req_mgr_session_info.session_hdl) {
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handle_camera_event(&s->front, event_data);
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} else {
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printf("Unknown vidioc event source\n");
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assert(false);
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}
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}
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}
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@ -1034,16 +1059,18 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
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AG = AG * 4096 + AG * 256 + AG * 16 + AG;
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// printf("cam %d gain_frac is %f, set AG to 0x%X, S to %d, dc %d \n", s->camera_num, s->analog_gain_frac, AG, s->exposure_time, s->dc_gain_enabled);
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}
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struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain
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{0x3362, s->dc_gain_enabled?0x1:0x0}, // DC_GAIN
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{0x305A, 0x00C4}, // red gain
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{0x3058, 0x00B1}, // blue gain
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{0x3056, 0x009A}, // g1 gain
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{0x305C, 0x009A}, // g2 gain
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{0x3012, s->exposure_time}, // integ time
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{0x301A, 0x091C}}; // reset
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{0x3012, s->exposure_time}}; // integ time
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//{0x301A, 0x091C}}; // reset
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sensors_i2c(s, exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload),
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CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG);
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}
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#ifdef NOSCREEN
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@ -15,7 +15,6 @@
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#include "media/cam_req_mgr.h"
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#define FRAME_BUF_COUNT 4
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#define METADATA_BUF_COUNT 4
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#ifdef __cplusplus
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extern "C" {
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@ -63,8 +62,11 @@ typedef struct CameraState {
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int buf0_handle;
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int buf_handle[FRAME_BUF_COUNT];
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int sync_objs[FRAME_BUF_COUNT];
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int frame_id;
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bool first;
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int request_ids[FRAME_BUF_COUNT];
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int request_id_last;
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int frame_id_last;
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int idx_offset;
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bool skipped;
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struct cam_req_mgr_session_info req_mgr_session_info;
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@ -186,6 +186,7 @@ void* frontview_thread(void *arg) {
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s->rhd_front = read_db_bool("IsRHD");
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set_thread_name("frontview");
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err = set_realtime_priority(51);
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// we subscribe to this for placement of the AE metering box
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// TODO: the loop is bad, ideally models shouldn't affect sensors
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SubMaster sm({"driverState"});
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@ -235,6 +236,7 @@ void* frontview_thread(void *arg) {
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}
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clWaitForEvents(1, &debayer_event);
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clReleaseEvent(debayer_event);
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tbuffer_release(&s->cameras.front.camera_tb, buf_idx);
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visionbuf_sync(&s->rgb_front_bufs[ui_idx], VISIONBUF_SYNC_FROM_DEVICE);
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@ -279,6 +281,7 @@ void* frontview_thread(void *arg) {
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int x_end;
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int y_start;
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int y_end;
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int skip = 1;
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if (s->front_meteringbox_xmax > 0)
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{
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@ -297,11 +300,12 @@ void* frontview_thread(void *arg) {
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#ifdef QCOM2
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x_start = 0.15*s->rgb_front_width;
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x_end = 0.85*s->rgb_front_width;
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y_start = 0.15*s->rgb_front_height;
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y_end = 0.85*s->rgb_front_height;
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y_start = 0.5*s->rgb_front_height;
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y_end = 0.75*s->rgb_front_height;
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skip = 2;
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#endif
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uint32_t lum_binning[256] = {0,};
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for (int y = y_start; y < y_end; ++y) {
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for (int y = y_start; y < y_end; y += skip) {
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for (int x = x_start; x < x_end; x += 2) { // every 2nd col
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const uint8_t *pix = &bgr_front_ptr[y * s->rgb_front_stride + x * 3];
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unsigned int lum = (unsigned int)pix[0] + pix[1] + pix[2];
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@ -315,7 +319,7 @@ void* frontview_thread(void *arg) {
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lum_binning[std::min(lum / 3, 255u)]++;
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}
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}
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const unsigned int lum_total = (y_end - y_start) * (x_end - x_start)/2;
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const unsigned int lum_total = (y_end - y_start) * (x_end - x_start) / 2 / skip;
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unsigned int lum_cur = 0;
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int lum_med = 0;
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for (lum_med=0; lum_med<256; lum_med++) {
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@ -385,7 +389,7 @@ void* wideview_thread(void *arg) {
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set_thread_name("wideview");
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err = set_realtime_priority(1);
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err = set_realtime_priority(51);
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LOG("setpriority returns %d", err);
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// init cl stuff
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@ -493,20 +497,20 @@ void* wideview_thread(void *arg) {
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// auto exposure over big box
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// TODO: fix this? should not use med imo
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const int exposure_x = 240;
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const int exposure_x = 384;
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const int exposure_y = 300;
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const int exposure_height = 600;
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const int exposure_width = 1440;
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const int exposure_height = 400;
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const int exposure_width = 1152;
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if (cnt % 3 == 0) {
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// find median box luminance for AE
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uint32_t lum_binning[256] = {0,};
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for (int y=0; y<exposure_height; y++) {
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for (int x=0; x<exposure_width; x++) {
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for (int y=0; y<exposure_height; y+=2) {
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for (int x=0; x<exposure_width; x+=2) {
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uint8_t lum = yuv_ptr_y[((exposure_y+y)*s->yuv_wide_width) + exposure_x + x];
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lum_binning[lum]++;
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}
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}
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const unsigned int lum_total = exposure_height * exposure_width;
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const unsigned int lum_total = exposure_height * exposure_width / 4;
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unsigned int lum_cur = 0;
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int lum_med = 0;
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for (lum_med=0; lum_med<256; lum_med++) {
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@ -837,26 +841,28 @@ void* processing_thread(void *arg) {
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// auto exposure over big box
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#ifdef QCOM2
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const int exposure_x = 240;
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const int exposure_x = 384;
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const int exposure_y = 300;
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const int exposure_height = 600;
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const int exposure_width = 1440;
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const int exposure_height = 400;
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const int exposure_width = 1152;
|
||||
const int skip = 2;
|
||||
#else
|
||||
const int exposure_x = 290;
|
||||
const int exposure_y = 322;
|
||||
const int exposure_height = 314;
|
||||
const int exposure_width = 560;
|
||||
const int skip = 1;
|
||||
#endif
|
||||
if (cnt % 3 == 0) {
|
||||
// find median box luminance for AE
|
||||
uint32_t lum_binning[256] = {0,};
|
||||
for (int y=0; y<exposure_height; y++) {
|
||||
for (int x=0; x<exposure_width; x++) {
|
||||
for (int y=0; y<exposure_height; y+=skip) {
|
||||
for (int x=0; x<exposure_width; x+=skip) {
|
||||
uint8_t lum = yuv_ptr_y[((exposure_y+y)*s->yuv_width) + exposure_x + x];
|
||||
lum_binning[lum]++;
|
||||
}
|
||||
}
|
||||
const unsigned int lum_total = exposure_height * exposure_width;
|
||||
const unsigned int lum_total = exposure_height * exposure_width / skip / skip;
|
||||
unsigned int lum_cur = 0;
|
||||
int lum_med = 0;
|
||||
for (lum_med=0; lum_med<256; lum_med++) {
|
||||
|
|
|
|||
27
selfdrive/camerad/test/check_skips.py
Executable file
27
selfdrive/camerad/test/check_skips.py
Executable file
|
|
@ -0,0 +1,27 @@
|
|||
#!/usr/bin/env python3
|
||||
# type: ignore
|
||||
import cereal.messaging as messaging
|
||||
|
||||
all_sockets = ['frame','frontFrame','wideFrame']
|
||||
prev_id = [None,None,None]
|
||||
this_id = [None,None,None]
|
||||
dt = [None,None,None]
|
||||
num_skipped = [0,0,0]
|
||||
|
||||
if __name__ == "__main__":
|
||||
sm = messaging.SubMaster(all_sockets)
|
||||
while True:
|
||||
sm.update()
|
||||
|
||||
for i in range(len(all_sockets)):
|
||||
if not sm.updated[all_sockets[i]]:
|
||||
continue
|
||||
this_id[i] = sm[all_sockets[i]].frameId
|
||||
if prev_id[i] is None:
|
||||
prev_id[i] = this_id[i]
|
||||
continue
|
||||
dt[i] = this_id[i] - prev_id[i]
|
||||
if dt[i] != 1:
|
||||
num_skipped[i] += dt[i] - 1
|
||||
print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
|
||||
prev_id[i] = this_id[i]
|
||||
|
|
@ -53,7 +53,6 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
|
|||
const int crop_x_offset = width - cropped_width;
|
||||
const int crop_y_offset = 0;
|
||||
#else
|
||||
|
||||
const int full_width_tici = 1928;
|
||||
const int full_height_tici = 1208;
|
||||
const int adapt_width_tici = 808;
|
||||
|
|
@ -84,7 +83,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
|
|||
uint8_t *premirror_cropped_y_buf = get_buffer(s->premirror_cropped_buf, cropped_width*cropped_height*3/2);
|
||||
uint8_t *premirror_cropped_u_buf = premirror_cropped_y_buf + (cropped_width * cropped_height);
|
||||
uint8_t *premirror_cropped_v_buf = premirror_cropped_u_buf + ((cropped_width/2) * (cropped_height/2));
|
||||
for (int r = 0; r < height/2; r++) {
|
||||
for (int r = 0; r < cropped_height/2; r++) {
|
||||
memcpy(premirror_cropped_y_buf + (2*r)*cropped_width, raw_y_buf + (2*r + global_y_offset + crop_y_offset)*width + global_x_offset, cropped_width);
|
||||
memcpy(premirror_cropped_y_buf + (2*r+1)*cropped_width, raw_y_buf + (2*r + global_y_offset + crop_y_offset + 1)*width + global_x_offset, cropped_width);
|
||||
memcpy(premirror_cropped_u_buf + r*cropped_width/2, raw_u_buf + (r + (global_y_offset + crop_y_offset)/2)*width/2 + global_x_offset/2, cropped_width/2);
|
||||
|
|
|
|||
Loading…
Reference in a new issue