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camerad: fix rare BPS startup issues (#34871)

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* repros

* handle old frames

* cleanup

* more freq

* fix request id skipping

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2025-03-14 19:30:09 -07:00
committed by GitHub
parent 349d569dfa
commit e1eac057ca
2 changed files with 28 additions and 7 deletions
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system/camerad/cameras/spectra.cc
+18 -3
View File
@@ -237,7 +237,7 @@ SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config)
: m(master),
enabled(config.enabled),
cc(config) {
ife_buf_depth = (cc.output_type == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT;
ife_buf_depth = VIPC_BUFFER_COUNT;
assert(ife_buf_depth < MAX_IFE_BUFS);
}
@@ -1330,7 +1330,16 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
uint64_t timestamp = event_data->u.frame_msg.timestamp; // timestamped in the kernel's SOF IRQ callback
//LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
if (stress_test("skipping SOF event")) return false;
// if there's a lag, some more frames could have already come in before
// we cleared the queue, so we'll still get them with valid (> 0) request IDs.
if (timestamp < last_requeue_ts) {
LOGD("skipping frame: ts before requeue / cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
return false;
}
if (stress_test("skipping SOF event")) {
return false;
}
if (!validateEvent(request_id, frame_id_raw)) {
return false;
@@ -1381,7 +1390,7 @@ bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
if (request_id != request_id_last + 1) {
LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, request_id_last, request_id);
clearAndRequeue(request_id_last + 1);
clearAndRequeue(request_id + 1);
return false;
}
}
@@ -1392,6 +1401,7 @@ void SpectraCamera::clearAndRequeue(uint64_t from_request_id) {
// clear everything, then queue up a fresh set of frames
LOGW("clearing and requeuing camera %d from %lu", cc.camera_num, from_request_id);
clear_req_queue();
last_requeue_ts = nanos_since_boot();
for (uint64_t id = from_request_id; id < from_request_id + ife_buf_depth; ++id) {
enqueue_frame(id);
}
@@ -1402,6 +1412,11 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
int buf_idx = request_id % ife_buf_depth;
assert(sync_objs_ife[buf_idx]);
if (stress_test("sync sleep time")) {
util::sleep_for(350);
return false;
}
auto waitForSync = [&](uint32_t sync_obj, int timeout_ms, const char *sync_type) {
struct cam_sync_wait sync_wait = {};
sync_wait.sync_obj = sync_obj;
system/camerad/cameras/spectra.h
+10 -4
View File
@@ -181,6 +181,7 @@ public:
int sync_objs_ife[MAX_IFE_BUFS] = {};
int sync_objs_bps[MAX_IFE_BUFS] = {};
uint64_t request_id_last = 0;
uint64_t last_requeue_ts = 0;
uint64_t frame_id_raw_last = 0;
int invalid_request_count = 0;
bool skip_expected = true;
@@ -202,11 +203,16 @@ private:
inline static bool first_frame_synced = false;
// a mode for stressing edge cases: realignment, sync failures, etc.
inline bool stress_test(const char* log) {
static double prob = std::stod(util::getenv("SPECTRA_ERROR_PROB", "-1"));;
bool triggered = (prob > 0) && ((static_cast<double>(rand()) / RAND_MAX) < prob);
inline bool stress_test(std::string log) {
static double last_trigger = 0;
static double prob = std::stod(util::getenv("SPECTRA_ERROR_PROB", "-1"));
static double dt = std::stod(util::getenv("SPECTRA_ERROR_DT", "1"));
bool triggered = (prob > 0) && \
((static_cast<double>(rand()) / RAND_MAX) < prob) && \
(millis_since_boot() - last_trigger) > dt;
if (triggered) {
LOGE("stress test (cam %d): %s", cc.camera_num, log);
last_trigger = millis_since_boot();
LOGE("stress test (cam %d): %s", cc.camera_num, log.c_str());
}
return triggered;
}