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camerad: remove camera threads (#34627)

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* remove camera threads

* remove unnecessary frame delay handling logic

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Dean Lee
2025-02-21 00:52:03 +08:00
committed by GitHub
parent 4835e9fa88
commit 99e552b485
3 changed files with 35 additions and 49 deletions
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system/camerad/cameras/camera_common.cc
+2 -2
View File
@@ -48,8 +48,8 @@ CameraBuf::~CameraBuf() {
}
}
bool CameraBuf::acquire(int expo_time) {
if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
bool CameraBuf::acquire() {
if (!safe_queue.try_pop(cur_buf_idx, 0)) return false;
if (frame_metadata[cur_buf_idx].frame_id == -1) {
LOGE("no frame data? wtf");
system/camerad/cameras/camera_common.h
+1 -1
View File
@@ -43,7 +43,7 @@ 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(int expo_time);
bool acquire();
void queue(size_t buf_idx);
};
system/camerad/cameras/camera_qcom2.cc
+32 -46
View File
@@ -37,7 +37,6 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr;
class CameraState {
public:
SpectraCamera camera;
std::thread thread;
int exposure_time = 5;
bool dc_gain_enabled = false;
int dc_gain_weight = 0;
@@ -54,6 +53,7 @@ public:
float target_grey_fraction = 0.3;
float fl_pix = 0;
std::unique_ptr<PubMaster> pm;
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {};
~CameraState();
@@ -61,7 +61,7 @@ public:
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
void set_camera_exposure(float grey_frac);
void set_exposure_rect();
void run();
void sendState();
float get_gain_factor() const {
return (1 + dc_gain_weight * (camera.sensor->dc_gain_factor-1) / camera.sensor->dc_gain_max_weight);
@@ -80,12 +80,10 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
gain_idx = camera.sensor->analog_gain_rec_idx;
cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time;
thread = std::thread(&CameraState::run, this);
pm = std::make_unique<PubMaster>(std::vector{camera.cc.publish_name});
}
CameraState::~CameraState() {
if (thread.joinable()) thread.join();
}
CameraState::~CameraState() {}
void CameraState::set_exposure_rect() {
// set areas for each camera, shouldn't be changed
@@ -216,56 +214,43 @@ void CameraState::set_camera_exposure(float grey_frac) {
float gain = analog_gain_frac * get_gain_factor();
cur_ev[camera.buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
// 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() - camera.buf.cur_frame_data.timestamp_sof) / 1000000;
if (ms < 60) {
util::sleep_for(60 - ms);
}
// LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera.cc.camera_num, 1e-9 * nanos_since_boot(), 1e-9 * camera.buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof));
auto exp_reg_array = sensor->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled);
camera.sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, camera.sensor->data_word);
}
void CameraState::run() {
util::set_thread_name(camera.cc.publish_name);
void CameraState::sendState() {
if (!camera.buf.acquire()) return;
PubMaster pm(std::vector{camera.cc.publish_name});
MessageBuilder msg;
auto framed = (msg.initEvent().*camera.cc.init_camera_state)();
const FrameMetadata &meta = camera.buf.cur_frame_data;
framed.setFrameId(meta.frame_id);
framed.setRequestId(meta.request_id);
framed.setTimestampEof(meta.timestamp_eof);
framed.setTimestampSof(meta.timestamp_sof);
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(meta.processing_time);
for (uint32_t cnt = 0; !do_exit; ++cnt) {
// Acquire the buffer; continue if acquisition fails
if (!camera.buf.acquire(exposure_time)) continue;
const float ev = cur_ev[meta.frame_id % 3];
const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f);
framed.setExposureValPercent(perc);
framed.setSensor(camera.sensor->image_sensor);
MessageBuilder msg;
auto framed = (msg.initEvent().*camera.cc.init_camera_state)();
const FrameMetadata &meta = camera.buf.cur_frame_data;
framed.setFrameId(meta.frame_id);
framed.setRequestId(meta.request_id);
framed.setTimestampEof(meta.timestamp_eof);
framed.setTimestampSof(meta.timestamp_sof);
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(meta.processing_time);
const float ev = cur_ev[meta.frame_id % 3];
const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f);
framed.setExposureValPercent(perc);
framed.setSensor(camera.sensor->image_sensor);
// Log raw frames for road camera
if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) { // no overlap with qlog decimation
framed.setImage(get_raw_frame_image(&camera.buf));
}
set_camera_exposure(calculate_exposure_value(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
// Send the message
pm.send(camera.cc.publish_name, msg);
// Log raw frames for road camera
if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && meta.frame_id % 100 == 5) { // no overlap with qlog decimation
framed.setImage(get_raw_frame_image(&camera.buf));
}
set_camera_exposure(calculate_exposure_value(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
// Send the message
pm->send(camera.cc.publish_name, msg);
}
void camerad_thread() {
@@ -322,6 +307,7 @@ void camerad_thread() {
for (auto &cam : cams) {
if (event_data->session_hdl == cam->camera.session_handle) {
cam->camera.handle_camera_event(event_data);
cam->sendState();
break;
}
}