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camerad: re-enable ISP debayer (#34212)

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camerad: re-enable ISP debayer

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2024-12-11 20:04:40 -08:00
committed by GitHub
parent 3328845be1
commit 7a2af78846
3 changed files with 11 additions and 8 deletions
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system/camerad/cameras/camera_qcom2.cc
+1 -1
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@@ -55,7 +55,7 @@ public:
float fl_pix = 0;
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
~CameraState();
void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
system/camerad/cameras/spectra.cc
+9 -6
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@@ -51,12 +51,12 @@ int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) {
};
int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg));
int32_t ioctl_result = (int32_t)arg.result;
int32_t ioctl_result = static_cast<int32_t>(arg.result);
if (ret < 0) {
LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
return ret;
}
if (ioctl_result < 0) {
if (ioctl_result != 0) {
LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
return ioctl_result;
}
@@ -675,18 +675,21 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
uint64_t request_id = request_ids[i];
if (sync_objs[i]) {
// wait
// SOF has come in, wait until readout is complete
struct cam_sync_wait sync_wait = {0};
sync_wait.sync_obj = sync_objs[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
sync_wait.timeout_ms = 100;
ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
if (ret != 0) {
LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
// TODO: handle frame drop cleanly
// when this happens, it messes up future frames
LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
}
buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
if (dp) buf.queue(i);
if (dp) {
buf.queue(i);
}
// destroy old output fence
for (auto so : {sync_objs, sync_objs_bps_out}) {
system/hardware/tici/tests/test_power_draw.py
+1 -1
View File
@@ -31,7 +31,7 @@ class Proc:
PROCS = [
Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
Proc(['encoderd'], 0.23, msgs=[]),