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camerad: better names for request and frame IDs (#38549)

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This commit is contained in:
Adeeb Shihadeh
2026-08-06 12:14:31 -07:00
committed by GitHub
parent e7b1ee3a5b
commit 17150b6db0
2 changed files with 26 additions and 26 deletions
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openpilot/system/camerad/cameras/spectra.cc
+21 -21
View File
@@ -1398,14 +1398,14 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
*/
uint64_t request_id = event_data->u.frame_msg.request_id; // ID from the camera request manager
uint64_t frame_id_raw = event_data->u.frame_msg.frame_id; // raw as opposed to our re-indexed frame ID
uint64_t ife_frame_id = event_data->u.frame_msg.frame_id; // kernel counter incremented on each IFE SOF event
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);
//LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, ife_frame_id);
// 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);
LOGD("skipping frame: ts before requeue / cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, ife_frame_id);
return false;
}
@@ -1413,39 +1413,39 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
return false;
}
if (!validateEvent(request_id, frame_id_raw)) {
if (!validateEvent(request_id, ife_frame_id)) {
return false;
}
// Update tracking variables
if (request_id == request_id_last + 1) {
if (request_id == last_valid_request_id + 1) {
skip_expected = false;
}
frame_id_raw_last = frame_id_raw;
request_id_last = request_id;
last_valid_ife_frame_id = ife_frame_id;
last_valid_request_id = request_id;
// Wait until frame's fully read out and processed
if (!waitForFrameReady(request_id)) {
// Reset queue on sync failure to prevent frame tearing
LOGE("camera %d sync failure %ld %ld ", cc.camera_num, request_id, frame_id_raw);
LOGE("camera %d sync failure %ld %ld ", cc.camera_num, request_id, ife_frame_id);
clearAndRequeue(request_id + 1);
return false;
}
int buf_idx = request_id % ife_buf_depth;
bool ret = processFrame(buf_idx, request_id, frame_id_raw, timestamp);
bool ret = processFrame(buf_idx, request_id, ife_frame_id, timestamp);
destroySyncObjectAt(buf_idx);
enqueue_frame(request_id + ife_buf_depth); // request next frame for this slot
return ret;
}
bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t ife_frame_id) {
// check if the request ID is even valid. this happens after queued
// requests are cleared. unclear if it happens any other time.
if (request_id == 0) {
if (invalid_request_count++ > ife_buf_depth+2) {
LOGE("camera %d reset after half second of invalid requests", cc.camera_num);
clearAndRequeue(request_id_last + 1);
clearAndRequeue(last_valid_request_id + 1);
invalid_request_count = 0;
}
return false;
@@ -1454,14 +1454,14 @@ bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
// check for skips in frame_id or request_id
if (!skip_expected) {
if (frame_id_raw != frame_id_raw_last + 1) {
LOGE("camera %d frame ID skipped, %lu -> %lu", cc.camera_num, frame_id_raw_last, frame_id_raw);
if (ife_frame_id != last_valid_ife_frame_id + 1) {
LOGE("camera %d frame ID skipped, %lu -> %lu", cc.camera_num, last_valid_ife_frame_id, ife_frame_id);
clearAndRequeue(request_id + 1);
return false;
}
if (request_id != request_id_last + 1) {
LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, request_id_last, request_id);
if (request_id != last_valid_request_id + 1) {
LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, last_valid_request_id, request_id);
clearAndRequeue(request_id + 1);
return false;
}
@@ -1512,8 +1512,8 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
return success;
}
bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp) {
if (!syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp, cc.staggered_sof)) {
bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp) {
if (!syncFirstFrame(cc.camera_num, request_id, ife_frame_id, timestamp, cc.staggered_sof)) {
return false;
}
@@ -1523,7 +1523,7 @@ bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t fram
// Update buffer and frame data
buf.cur_buf_idx = buf_idx;
buf.cur_frame_data = {
.frame_id = (uint32_t)(frame_id_raw - camera_sync_data[cc.camera_num].frame_id_offset),
.frame_id = (uint32_t)(ife_frame_id - camera_sync_data[cc.camera_num].frame_id_offset),
.request_id = (uint32_t)request_id,
.timestamp_sof = timestamp,
.timestamp_eof = timestamp_eof,
@@ -1532,11 +1532,11 @@ bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t fram
return true;
}
bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp, bool staggered) {
bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp, bool staggered) {
if (first_frame_synced) return true;
// Store the frame data for this camera
camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1, staggered};
camera_sync_data[camera_id] = SyncData{timestamp, ife_frame_id + 1, staggered};
// Ensure all cameras are up
int enabled_camera_count = std::count_if(std::begin(ALL_CAMERA_CONFIGS), std::end(ALL_CAMERA_CONFIGS),
@@ -1569,7 +1569,7 @@ bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t
}
// Timeout in case the timestamps never line up
if (raw_id > 40) {
if (ife_frame_id > 40) {
LOGE("camera first frame sync timed out");
first_frame_synced = true;
}
openpilot/system/camerad/cameras/spectra.h
+5 -5
View File
@@ -205,9 +205,9 @@ public:
int buf_handle_raw[MAX_IFE_BUFS] = {};
int sync_objs_ife[MAX_IFE_BUFS] = {};
int sync_objs_bps[MAX_IFE_BUFS] = {};
uint64_t request_id_last = 0;
uint64_t last_valid_request_id = 0;
uint64_t last_requeue_ts = 0;
uint64_t frame_id_raw_last = 0;
uint64_t last_valid_ife_frame_id = 0;
int invalid_request_count = 0;
bool skip_expected = true;
@@ -216,10 +216,10 @@ public:
private:
void clearAndRequeue(uint64_t from_request_id);
bool validateEvent(uint64_t request_id, uint64_t frame_id_raw);
bool validateEvent(uint64_t request_id, uint64_t ife_frame_id);
bool waitForFrameReady(uint64_t request_id);
bool processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp);
static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp, bool staggered);
bool processFrame(int buf_idx, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp);
static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp, bool staggered);
struct SyncData {
uint64_t timestamp;
uint64_t frame_id_offset = 0;