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camerad: improve error logging (#24550)

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old-commit-hash: 8811142787a0690499237e1b449e0d524dc81f35
This commit is contained in:
Willem Melching
2022-05-16 16:31:14 +02:00
committed by GitHub
parent b9a07b8f05
commit 599d52ded2
1 changed files with 20 additions and 13 deletions
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selfdrive/camerad/cameras/camera_qcom2.cc
+20 -13
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@@ -91,8 +91,7 @@ int do_cam_control(int fd, int op_code, void *handle, int size) {
int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
if (ret == -1) {
printf("OP CODE ERR - %d \n", op_code);
perror("wat");
LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
}
return ret;
}
@@ -546,7 +545,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
int ret = device_config(multi_cam_state->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
assert(ret == 0);
if (ret != 0) {
printf("ISP CONFIG FAILED\n");
LOGE("isp config failed");
}
mm.free(buf2);
@@ -563,7 +562,10 @@ void CameraState::enqueue_buffer(int i, bool dp) {
sync_wait.sync_obj = sync_objs[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
// LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
if (ret != 0) {
LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
// TODO: handle frame drop cleanly
}
buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
if (dp) buf.queue(i);
@@ -572,14 +574,18 @@ void CameraState::enqueue_buffer(int i, bool dp) {
struct cam_sync_info sync_destroy = {0};
sync_destroy.sync_obj = sync_objs[i];
ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
// LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
if (ret != 0) {
LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
}
}
// create output fence
struct cam_sync_info sync_create = {0};
strcpy(sync_create.name, "NodeOutputPortFence");
ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
// LOGD("fence req: %d %d", ret, sync_create.sync_obj);
if (ret != 0) {
LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj)
}
sync_objs[i] = sync_create.sync_obj;
// schedule request with camera request manager
@@ -588,11 +594,12 @@ void CameraState::enqueue_buffer(int i, bool dp) {
req_mgr_sched_request.link_hdl = link_handle;
req_mgr_sched_request.req_id = request_id;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
// LOGD("sched req: %d %d", ret, request_id);
if (ret != 0) {
LOGE("failed to schedule cam mgr request: %d %d", ret, request_id);
}
// poke sensor, must happen after schedule
sensors_poke(request_id);
// LOGD("Poked sensor");
// submit request to the ife
config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
@@ -873,14 +880,14 @@ void cameras_open(MultiCameraState *s) {
sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
printf("req mgr subscribe: %d\n", ret);
LOGD("req mgr subscribe: %d", ret);
s->driver_cam.camera_open();
printf("driver camera opened \n");
LOGD("driver camera opened");
s->road_cam.camera_open();
printf("road camera opened \n");
LOGD("road camera opened");
s->wide_road_cam.camera_open();
printf("wide road camera opened \n");
LOGD("wide road camera opened");
}
void CameraState::camera_close() {
@@ -1313,7 +1320,7 @@ void cameras_run(MultiCameraState *s) {
} else if (event_data->session_hdl == s->driver_cam.session_handle) {
s->driver_cam.handle_camera_event(event_data);
} else {
printf("Unknown vidioc event source\n");
LOGE("Unknown vidioc event source");
assert(false);
}
}