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camerad: log image sensor in camera states (#25786)

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* camerad: log image sensor in camera states

* for all cams

* bump cereal

* revert that

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2022-09-14 15:40:29 -07:00
committed by GitHub
parent 578b8fba1a
commit 7352e6d940
4 changed files with 11 additions and 5 deletions
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cereal
+1 -1
Submodule cereal updated: f363cc13c6...bd2f7fa567
system/camerad/cameras/camera_common.cc
+7 -1
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@@ -159,7 +159,7 @@ void CameraBuf::queue(size_t buf_idx) {
// common functions
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data) {
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) {
framed.setFrameId(frame_data.frame_id);
framed.setTimestampEof(frame_data.timestamp_eof);
framed.setTimestampSof(frame_data.timestamp_sof);
@@ -173,6 +173,12 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
framed.setLensErr(frame_data.lens_err);
framed.setLensTruePos(frame_data.lens_true_pos);
framed.setProcessingTime(frame_data.processing_time);
if (c->camera_id == CAMERA_ID_AR0231) {
framed.setSensor(cereal::FrameData::ImageSensor::AR0321);
} else if (c->camera_id == CAMERA_ID_OX03C10) {
framed.setSensor(cereal::FrameData::ImageSensor::OX03C10);
}
}
kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
system/camerad/cameras/camera_common.h
+1 -1
View File
@@ -113,7 +113,7 @@ public:
typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
system/camerad/cameras/camera_qcom2.cc
+2 -2
View File
@@ -1208,7 +1208,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
framed.setFrameType(cereal::FrameData::FrameType::FRONT);
fill_frame_data(framed, c->buf.cur_frame_data);
fill_frame_data(framed, c->buf.cur_frame_data, c);
if (c->camera_id == CAMERA_ID_AR0231) {
ar0231_process_registers(s, c, framed);
@@ -1221,7 +1221,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
MessageBuilder msg;
auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
fill_frame_data(framed, b->cur_frame_data);
fill_frame_data(framed, b->cur_frame_data, c);
if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation
framed.setImage(get_raw_frame_image(b));
}