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camera_qcom2: refactor open_v4l_by_name_and_index (#22067) 

* refactor

* small cleanup

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/22079/head
Dean Lee 2021-08-31 08:12:22 +08:00 committed by GitHub
parent 935cbd3139
commit cf4ad99554
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1 changed files with 10 additions and 25 deletions
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35
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -540,41 +540,26 @@ static void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v,
s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
}
// TODO: refactor this to somewhere nicer, perhaps use in camera_qcom as well
static int open_v4l_by_name_and_index(const char name[], int index, int flags) {
char nbuf[0x100];
int v4l_index = 0;
int cnt_index = index;
while (true) {
snprintf(nbuf, sizeof(nbuf), "/sys/class/video4linux/v4l-subdev%d/name", v4l_index);
FILE *f = fopen(nbuf, "rb");
if (f == NULL) return -1;
int len = fread(nbuf, 1, sizeof(nbuf), f);
fclose(f);
// name ends with '\n', remove it
if (len < 1) return -1;
nbuf[len-1] = '\0';
if (strcmp(nbuf, name) == 0) {
if (cnt_index == 0) {
snprintf(nbuf, sizeof(nbuf), "/dev/v4l-subdev%d", v4l_index);
LOGD("open %s for %s index %d", nbuf, name, index);
return open(nbuf, flags);
int open_v4l_by_name_and_index(const char name[], int index, int flags = O_RDWR | O_NONBLOCK) {
for (int v4l_index = 0; /**/; ++v4l_index) {
std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
if (v4l_name.empty()) return -1;
if (v4l_name.find(name) == 0) {
if (index == 0) {
return open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags);
}
cnt_index--;
index--;
}
v4l_index++;
}
}
static void camera_open(CameraState *s) {
int ret;
s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num, O_RDWR | O_NONBLOCK);
s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
assert(s->sensor_fd >= 0);
LOGD("opened sensor");
s->csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", s->camera_num, O_RDWR | O_NONBLOCK);
s->csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", s->camera_num);
assert(s->csiphy_fd >= 0);
LOGD("opened csiphy");