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camerad: remove unused SubMaster (#24844)

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old-commit-hash: fb068f04f50fcde6906072b4963114146852c51d
This commit is contained in:
Willem Melching
2022-06-13 16:43:50 +02:00
committed by GitHub
parent e03eddea87
commit e71cdfeb9e
3 changed files with 2 additions and 7 deletions
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selfdrive/camerad/cameras/camera_qcom2.cc
+2 -5
View File
@@ -837,7 +837,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
s->sm = new SubMaster({"driverState"});
s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
}
@@ -948,7 +947,6 @@ void cameras_close(MultiCameraState *s) {
s->road_cam.camera_close();
s->wide_road_cam.camera_close();
delete s->sm;
delete s->pm;
}
@@ -1221,7 +1219,7 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal
framed.setTemperaturesC({temp_0, temp_1});
}
static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
static void driver_cam_auto_exposure(CameraState *c) {
struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
const CameraBuf *b = &c->buf;
static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
@@ -1229,8 +1227,7 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
}
static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
s->sm->update(0);
driver_cam_auto_exposure(c, *(s->sm));
driver_cam_auto_exposure(c);
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
selfdrive/camerad/cameras/camera_qcom2.h
-1
View File
@@ -106,6 +106,5 @@ typedef struct MultiCameraState {
CameraState wide_road_cam;
CameraState driver_cam;
SubMaster *sm;
PubMaster *pm;
} MultiCameraState;
selfdrive/camerad/test/camera_test.h
-1
View File
@@ -19,7 +19,6 @@ typedef struct MultiCameraState {
CameraState road_cam;
CameraState driver_cam;
SubMaster *sm = nullptr;
PubMaster *pm = nullptr;
} MultiCameraState;