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camerad: don't crash zmq if get interrupt from msgq (#1790) 

* not crash zmq if get interrupt from msgq

* also filter eagain
pull/1791/head
ZwX1616 2020-06-26 18:11:36 -07:00 committed by GitHub
parent 97b494e043
commit 55aee68ca0
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1 changed files with 18 additions and 14 deletions
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32
selfdrive/camerad/cameras/camera_qcom.cc
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@ -2028,24 +2028,28 @@ static void* ops_thread(void* arg) {
assert(err == 0);
err = zmq_msg_recv(&msg, sockraw, 0);
assert(err >= 0);
if (err >= 0) {
CameraMsg cmsg;
if (zmq_msg_size(&msg) == sizeof(cmsg)) {
memcpy(&cmsg, zmq_msg_data(&msg), zmq_msg_size(&msg));
CameraMsg cmsg;
if (zmq_msg_size(&msg) == sizeof(cmsg)) {
memcpy(&cmsg, zmq_msg_data(&msg), zmq_msg_size(&msg));
//LOGD("cameraops %d", cmsg.type);
//LOGD("cameraops %d", cmsg.type);
if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) {
if (cmsg.camera_num == 0) {
do_autoexposure(&s->rear, cmsg.grey_frac);
do_autofocus(&s->rear);
} else {
do_autoexposure(&s->front, cmsg.grey_frac);
if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) {
if (cmsg.camera_num == 0) {
do_autoexposure(&s->rear, cmsg.grey_frac);
do_autofocus(&s->rear);
} else {
do_autoexposure(&s->front, cmsg.grey_frac);
}
} else if (cmsg.type == -1) {
break;
}
} else if (cmsg.type == -1) {
break;
}
} else {
// skip if zmq is interrupted by msgq
int err_no = zmq_errno();
assert(err_no == EINTR || err_no == EAGAIN);
}
zmq_msg_close(&msg);