camerad: move handle_camera_event to SpectraCamera class (#33595)

move handle event

Co-authored-by: Comma Device <device@comma.ai>

system/camerad/cameras/camera_common.cc

@@ -102,7 +102,7 @@ CameraBuf::~CameraBuf() {
   if (imgproc) delete imgproc;
 }
 
-bool CameraBuf::acquire() {
+bool CameraBuf::acquire(int expo_time) {
   if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
   if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
@@ -115,7 +115,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, cur_frame_data.integ_lines);
+  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {

system/camerad/cameras/camera_common.h

@@ -19,13 +19,6 @@ typedef struct FrameMetadata {
   uint64_t timestamp_sof;
   uint64_t timestamp_eof;
 
-  // Exposure
-  unsigned int integ_lines;
-  bool high_conversion_gain;
-  float gain;
-  float measured_grey_fraction;
-  float target_grey_fraction;
-
   float processing_time;
 } FrameMetadata;
 
@@ -53,7 +46,7 @@ public:
   CameraBuf() = default;
   ~CameraBuf();
   void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
-  bool acquire();
+  bool acquire(int expo_time);
   void queue(size_t buf_idx);
 };
 

system/camerad/cameras/camera_qcom2.cc

@@ -34,8 +34,6 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr;
 // high level camera state
 class CameraState : public SpectraCamera {
 public:
-  std::mutex exp_lock;
-
   int exposure_time = 5;
   bool dc_gain_enabled = false;
   int dc_gain_weight = 0;
@@ -72,69 +70,8 @@ public:
     gain_idx = sensor->analog_gain_rec_idx;
     cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * sensor->sensor_analog_gains[gain_idx] * exposure_time;
   };
-
-  // TODO: this should move to SpectraCamera
-  void handle_camera_event(void *evdat);
 };
 
-void CameraState::handle_camera_event(void *evdat) {
-  if (!enabled) return;
-  struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
-  assert(event_data->session_hdl == session_handle);
-  assert(event_data->u.frame_msg.link_hdl == link_handle);
-
-  uint64_t timestamp = event_data->u.frame_msg.timestamp;
-  uint64_t main_id = event_data->u.frame_msg.frame_id;
-  uint64_t real_id = event_data->u.frame_msg.request_id;
-
-  if (real_id != 0) { // next ready
-    if (real_id == 1) {idx_offset = main_id;}
-    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
-
-    // check for skipped frames
-    if (main_id > frame_id_last + 1 && !skipped) {
-      LOGE("camera %d realign", cc.camera_num);
-      clear_req_queue();
-      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
-      skipped = true;
-    } else if (main_id == frame_id_last + 1) {
-      skipped = false;
-    }
-
-    // check for dropped requests
-    if (real_id > request_id_last + 1) {
-      LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
-      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
-    }
-
-    // metas
-    frame_id_last = main_id;
-    request_id_last = real_id;
-
-    auto &meta_data = buf.camera_bufs_metadata[buf_idx];
-    meta_data.frame_id = main_id - idx_offset;
-    meta_data.request_id = real_id;
-    meta_data.timestamp_sof = timestamp;
-    exp_lock.lock();
-    meta_data.gain = analog_gain_frac * get_gain_factor();
-    meta_data.high_conversion_gain = dc_gain_enabled;
-    meta_data.integ_lines = exposure_time;
-    meta_data.measured_grey_fraction = measured_grey_fraction;
-    meta_data.target_grey_fraction = target_grey_fraction;
-    exp_lock.unlock();
-
-    // dispatch
-    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
-  } else { // not ready
-    if (main_id > frame_id_last + 10) {
-      LOGE("camera %d reset after half second of no response", cc.camera_num);
-      clear_req_queue();
-      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
-      frame_id_last = main_id;
-      skipped = true;
-    }
-  }
-}
 
 void CameraState::set_exposure_rect() {
   // set areas for each camera, shouldn't be changed
@@ -250,8 +187,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
     }
   }
 
-  exp_lock.lock();
-
   measured_grey_fraction = grey_frac;
   target_grey_fraction = target_grey;
 
@@ -263,8 +198,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
   float gain = analog_gain_frac * get_gain_factor();
   cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
 
-  exp_lock.unlock();
-
   // Processing a frame takes right about 50ms, so we need to wait a few ms
   // so we don't send i2c commands around the frame start.
   int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000;
@@ -286,7 +219,7 @@ void CameraState::run() {
 
   for (uint32_t cnt = 0; !do_exit; ++cnt) {
     // Acquire the buffer; continue if acquisition fails
-    if (!buf.acquire()) continue;
+    if (!buf.acquire(exposure_time)) continue;
 
     MessageBuilder msg;
     auto framed = (msg.initEvent().*cc.init_camera_state)();
@@ -294,11 +227,11 @@ void CameraState::run() {
     framed.setRequestId(buf.cur_frame_data.request_id);
     framed.setTimestampEof(buf.cur_frame_data.timestamp_eof);
     framed.setTimestampSof(buf.cur_frame_data.timestamp_sof);
-    framed.setIntegLines(buf.cur_frame_data.integ_lines);
-    framed.setGain(buf.cur_frame_data.gain);
-    framed.setHighConversionGain(buf.cur_frame_data.high_conversion_gain);
-    framed.setMeasuredGreyFraction(buf.cur_frame_data.measured_grey_fraction);
-    framed.setTargetGreyFraction(buf.cur_frame_data.target_grey_fraction);
+    framed.setIntegLines(exposure_time);
+    framed.setGain(analog_gain_frac * get_gain_factor());
+    framed.setHighConversionGain(dc_gain_enabled);
+    framed.setMeasuredGreyFraction(measured_grey_fraction);
+    framed.setTargetGreyFraction(target_grey_fraction);
     framed.setProcessingTime(buf.cur_frame_data.processing_time);
 
     const float ev = cur_ev[buf.cur_frame_data.frame_id % 3];
@@ -328,7 +261,6 @@ void camerad_thread() {
     TODO: future cleanups
     - centralize enabled handling
     - open/init/etc mess
-    - no ISP stuff in this file
   */
 
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);

system/camerad/cameras/spectra.cc

@@ -817,3 +817,52 @@ void SpectraCamera::camera_close() {
   ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
   LOGD("destroyed session %d: %d", cc.camera_num, ret);
 }
+
+void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
+  if (!enabled) return;
+
+  uint64_t timestamp = event_data->u.frame_msg.timestamp;
+  uint64_t main_id = event_data->u.frame_msg.frame_id;
+  uint64_t real_id = event_data->u.frame_msg.request_id;
+
+  if (real_id != 0) { // next ready
+    if (real_id == 1) {idx_offset = main_id;}
+    int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
+
+    // check for skipped frames
+    if (main_id > frame_id_last + 1 && !skipped) {
+      LOGE("camera %d realign", cc.camera_num);
+      clear_req_queue();
+      enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
+      skipped = true;
+    } else if (main_id == frame_id_last + 1) {
+      skipped = false;
+    }
+
+    // check for dropped requests
+    if (real_id > request_id_last + 1) {
+      LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
+      enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
+    }
+
+    // metas
+    frame_id_last = main_id;
+    request_id_last = real_id;
+
+    auto &meta_data = buf.camera_bufs_metadata[buf_idx];
+    meta_data.frame_id = main_id - idx_offset;
+    meta_data.request_id = real_id;
+    meta_data.timestamp_sof = timestamp;
+
+    // dispatch
+    enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
+  } else { // not ready
+    if (main_id > frame_id_last + 10) {
+      LOGE("camera %d reset after half second of no response", cc.camera_num);
+      clear_req_queue();
+      enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
+      frame_id_last = main_id;
+      skipped = true;
+    }
+  }
+}

system/camerad/cameras/spectra.h

@@ -65,6 +65,7 @@ public:
   ~SpectraCamera();
 
   void camera_open();
+  void handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
   void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);