Revert "init camera in AbstraceCamera"

This reverts commit ef86a44.
commaai · Sep 12, 2022 · c55b68a · c55b68a
1 parent 5fa151e
commit c55b68a
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Showing 8 changed files with 155 additions and 206 deletions.
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
@@ -5,7 +5,7 @@ libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq
 cenv = env.Clone()
 cenv['CPPPATH'].append('include/')
 
-camera_obj = cenv.Object(['cameras/camera_qcom2.cc', 'cameras/camera.cc', 'cameras/camera_ar0231.cc','cameras/camera_ox03c10.cc','cameras/camera_common.cc', 'cameras/camera_util.cc'])
+camera_obj = cenv.Object(['cameras/camera_qcom2.cc',   'cameras/camera_ar0231.cc','cameras/camera_ox03c10.cc','cameras/camera_common.cc', 'cameras/camera_util.cc'])
 cenv.Program('camerad', [
     'main.cc',
     camera_obj,

diff --git a/system/camerad/cameras/camera.cc b/system/camerad/cameras/camera.cc
diff --git a/system/camerad/cameras/camera.h b/system/camerad/cameras/camera.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <cassert>
 #include <map>
 #include <mutex>
 #include <optional>
@@ -14,9 +13,6 @@
 #include "media/cam_sensor.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-
-#include "common/util.h"
-#include "system/camerad/cameras/camera_util.h"
 #include "system/camerad/cameras/sensor2_i2c.h"
 
 #define CAMERA_ID_IMX298 0
@@ -49,12 +45,8 @@ class AbstractCamera {
   virtual ~AbstractCamera(){};
   virtual std::vector<struct i2c_random_wr_payload> getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const = 0;
   virtual void processRegisters(void *addr, cereal::FrameData::Builder &framed) {}
-  virtual int getSlaveAddress(int port) = 0;
-  static std::unique_ptr<AbstractCamera> initCamera(int video0_fd, int sensor_fd, int camera_num);
 
   CameraInfo ci;
-  MemoryManager mm;
-
   int id;
   float dc_gain_factor;
   int dc_gain_max_weight;
@@ -68,15 +60,11 @@ class AbstractCamera {
   float min_ev, max_ev;
   int registers_offset = 0;
   float sensor_analog_gains[16];
-  uint32_t in_port_info_dt;
 
   camera_sensor_i2c_type i2c_type;
   std::vector<struct i2c_random_wr_payload> start_reg_array;
   std::vector<struct i2c_random_wr_payload> init_array;
-
-protected:
-  bool init(int video0_fd, int sensor_fd, int camera_num);
-
+  uint32_t in_port_info_dt;
   uint32_t reg_addr;
   uint32_t expected_data;
   uint32_t config_val_low;
@@ -86,20 +74,18 @@ class CameraAR0231 : public AbstractCamera {
 public:
   CameraAR0231();
   ~CameraAR0231();
-  int getSlaveAddress(int port) override;
   std::vector<struct i2c_random_wr_payload> getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const override;
   void processRegisters(void *addr, cereal::FrameData::Builder &framed) override;
 
 private:
   std::map<uint16_t, uint16_t> parseRegisters(uint8_t *data, std::initializer_list<uint16_t> addrs);
-  std::map<uint16_t, std::pair<int, int>> buildREgisterLut(uint8_t *data);
+  std::map<uint16_t, std::pair<int, int>> buildRegisterLut(uint8_t *data);
   std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
 };
 
 class CameraOX03C10 : public AbstractCamera {
 public:
   CameraOX03C10();
   ~CameraOX03C10();
-  int getSlaveAddress(int port) override;
   std::vector<struct i2c_random_wr_payload> getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const override;
 };
diff --git a/system/camerad/cameras/camera_ar0231.cc b/system/camerad/cameras/camera_ar0231.cc
@@ -64,11 +64,6 @@ CameraAR0231::~CameraAR0231() {
 
 }
 
-int CameraAR0231::getSlaveAddress(int port) {
-  assert(port >=0 && port <= 2);
-  return (int[]){0x20, 0x30, 0x20}[port];
-}
-
 std::vector<struct i2c_random_wr_payload> CameraAR0231::getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const {
   uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
   return {
@@ -78,7 +73,7 @@ std::vector<struct i2c_random_wr_payload> CameraAR0231::getExposureVector(int ne
   };
 }
 
-std::map<uint16_t, std::pair<int, int>> CameraAR0231::buildREgisterLut(uint8_t *data) {
+std::map<uint16_t, std::pair<int, int>> CameraAR0231::buildRegisterLut(uint8_t *data) {
   // This function builds a lookup table from register address, to a pair of indices in the
   // buffer where to read this address. The buffer contains padding bytes,
   // as well as markers to indicate the type of the next byte.
@@ -132,7 +127,7 @@ std::map<uint16_t, std::pair<int, int>> CameraAR0231::buildREgisterLut(uint8_t *
 
 std::map<uint16_t, uint16_t> CameraAR0231::parseRegisters(uint8_t *data, std::initializer_list<uint16_t> addrs) {
   if (ar0231_register_lut.empty()) {
-    ar0231_register_lut = buildREgisterLut(data);
+    ar0231_register_lut = buildRegisterLut(data);
   }
 
   std::map<uint16_t, uint16_t> registers;

diff --git a/system/camerad/cameras/camera_ox03c10.cc b/system/camerad/cameras/camera_ox03c10.cc
@@ -52,11 +52,6 @@ CameraOX03C10::CameraOX03C10() {
 CameraOX03C10::~CameraOX03C10() {
 }
 
-int CameraOX03C10::getSlaveAddress(int port) {
-  assert(port >=0 && port <= 2);
-  return (int[]){0x6C, 0x20, 0x6C}[port];
-}
-
 std::vector<struct i2c_random_wr_payload> CameraOX03C10::getExposureVector(int new_g, bool dc_gain_enabled, int exposure_time, int dc_gain_weight) const {
   static constexpr uint32_t ox03c10_analog_gains_reg[] = {
       0x100, 0x140, 0x150, 0x190,