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common_process_driver_camera: same parameters as process_thread_cb (#23202)

pull/23195/head
Dean Lee 2021-12-13 22:07:31 +08:00 committed by GitHub
parent 13ad02bc06
commit 5c6229f3df
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 7 additions and 16 deletions
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8
selfdrive/camerad/cameras/camera_common.cc
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@ -408,11 +408,11 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
}
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
int j = Hardware::TICI() ? 1 : 3;
if (cnt % j == 0) {
sm->update(0);
driver_cam_auto_exposure(c, *sm);
s->sm->update(0);
driver_cam_auto_exposure(c, *(s->sm));
}
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
@ -421,5 +421,5 @@ void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c,
if (env_send_driver) {
framed.setImage(get_frame_image(&c->buf));
}
pm->send("driverCameraState", msg);
s->pm->send("driverCameraState", msg);
}

2
selfdrive/camerad/cameras/camera_common.h
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@ -123,7 +123,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
float set_exposure_target(const CameraBuf *b, 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, CameraState *cs, process_thread_cb callback);
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt);
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
void cameras_open(MultiCameraState *s);

6
selfdrive/camerad/cameras/camera_qcom.cc
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@ -1086,10 +1086,6 @@ static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t la
c->self_recover.store(self_recover);
}
void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
common_process_driver_camera(s->sm, s->pm, c, cnt);
}
// called by processing_thread
void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
const CameraBuf *b = &c->buf;
@ -1121,7 +1117,7 @@ void cameras_run(MultiCameraState *s) {
std::vector<std::thread> threads;
threads.push_back(std::thread(ops_thread, s));
threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));
CameraState* cameras[2] = {&s->road_cam, &s->driver_cam};

7
selfdrive/camerad/cameras/camera_qcom2.cc
View File

@ -987,11 +987,6 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
set_camera_exposure(s, grey_frac);
}
void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
common_process_driver_camera(s->sm, s->pm, c, cnt);
}
// called by processing_thread
void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
const CameraBuf *b = &c->buf;
@ -1016,7 +1011,7 @@ void cameras_run(MultiCameraState *s) {
LOG("-- Starting threads");
std::vector<std::thread> threads;
threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));
threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
// start devices