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camerad use std::thread (#19771)

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old-commit-hash: 1b3c93813d37e09b0c695a9974cfc8789373352c
This commit is contained in:
Dean Lee
2021-01-15 18:10:52 +08:00
committed by GitHub
parent f4b4c9556e
commit 8b2b835e62
2 changed files with 4 additions and 24 deletions
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selfdrive/camerad/cameras/camera_qcom.cc
+2 -11
View File
@@ -1557,9 +1557,7 @@ static FrameMetadata get_frame_metadata(CameraState *s, uint32_t frame_id) {
};
}
static void* ops_thread(void* arg) {
MultiCameraState *s = (MultiCameraState*)arg;
static void ops_thread(MultiCameraState *s) {
int rear_op_id_last = 0;
int front_op_id_last = 0;
@@ -1584,8 +1582,6 @@ static void* ops_thread(void* arg) {
util::sleep_for(50);
}
return NULL;
}
static void update_lapmap(MultiCameraState *s, const CameraBuf *b, const int cnt) {
@@ -1679,10 +1675,8 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
}
void cameras_run(MultiCameraState *s) {
pthread_t ops_thread_handle;
int err = pthread_create(&ops_thread_handle, NULL, ops_thread, s);
assert(err == 0);
std::vector<std::thread> threads;
threads.push_back(std::thread(ops_thread, s));
threads.push_back(start_process_thread(s, "processing", &s->rear, camera_process_frame));
threads.push_back(start_process_thread(s, "frontview", &s->front, camera_process_front));
@@ -1778,9 +1772,6 @@ void cameras_run(MultiCameraState *s) {
LOG(" ************** STOPPING **************");
err = pthread_join(ops_thread_handle, NULL);
assert(err == 0);
for (auto &t : threads) t.join();
cameras_close(s);
selfdrive/camerad/cameras/camera_qcom2.cc
+2 -13
View File
@@ -1070,8 +1070,7 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
cam_exp[s->camera_num].store(tmp);
}
static void* ae_thread(void* arg) {
MultiCameraState *s = (MultiCameraState*)arg;
static void ae_thread(MultiCameraState *s) {
CameraState *c_handles[3] = {&s->wide, &s->rear, &s->front};
int op_id_last[3] = {0};
@@ -1090,8 +1089,6 @@ static void* ae_thread(void* arg) {
util::sleep_for(50);
}
return NULL;
}
void camera_process_front(MultiCameraState *s, CameraState *c, int cnt) {
@@ -1135,14 +1132,9 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
}
void cameras_run(MultiCameraState *s) {
int err;
// start threads
LOG("-- Starting threads");
pthread_t ae_thread_handle;
err = pthread_create(&ae_thread_handle, NULL,
ae_thread, s);
assert(err == 0);
std::vector<std::thread> threads;
threads.push_back(std::thread(ae_thread, s));
threads.push_back(start_process_thread(s, "processing", &s->rear, camera_process_frame));
threads.push_back(start_process_thread(s, "frontview", &s->front, camera_process_front));
threads.push_back(start_process_thread(s, "wideview", &s->wide, camera_process_frame));
@@ -1193,9 +1185,6 @@ void cameras_run(MultiCameraState *s) {
LOG(" ************** STOPPING **************");
err = pthread_join(ae_thread_handle, NULL);
assert(err == 0);
for (auto &t : threads) t.join();
cameras_close(s);