camerad cleanup (#30573)

* misc cleanup * rm those * rm utils * fix build * rm pool * little more * goodbye imgproc
commaai · Dec 2, 2023 · e34ee43 · e34ee43
1 parent 5dba918
commit e34ee43
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Showing 15 changed files with 56 additions and 367 deletions.
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
@@ -29,8 +29,6 @@ camerad
 ^^^^^^^
 .. autodoxygenindex::
    :project: system_camerad_cameras
-.. autodoxygenindex::
-   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^

diff --git a/release/files_common b/release/files_common
@@ -335,11 +335,6 @@ system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
 system/camerad/cameras/sensor2_i2c.h
 
-system/camerad/imgproc/conv.cl
-system/camerad/imgproc/pool.cl
-system/camerad/imgproc/utils.cc
-system/camerad/imgproc/utils.h
-
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
 selfdrive/manager/helpers.py

diff --git a/system/camerad/SConscript b/system/camerad/SConscript
@@ -3,12 +3,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
 
 camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc'])
-env.Program('camerad', [
-    'main.cc',
-    camera_obj,
-  ], LIBS=libs)
+env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
-  env.Program('test/ae_gray_test',
-              ['test/ae_gray_test.cc', camera_obj],
-              LIBS=libs)
+  env.Program('test/ae_gray_test', ['test/ae_gray_test.cc', camera_obj], LIBS=libs)
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
@@ -11,7 +11,6 @@
 #include "third_party/libyuv/include/libyuv.h"
 #include <jpeglib.h>
 
-#include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
 #include "common/swaglog.h"
 #include "common/util.h"
@@ -93,12 +92,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
 
   debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
 
-#ifdef __APPLE__
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-#else
   const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
   q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-#endif
 }
 
 CameraBuf::~CameraBuf() {
@@ -281,7 +276,6 @@ float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip
     }
   }
 
-
   // Find mean lumimance value
   unsigned int lum_cur = 0;
   for (lum_med = 255; lum_med >= 0; lum_med--) {

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
@@ -14,17 +14,9 @@
 #include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
-#define CAMERA_ID_IMX298 0
-#define CAMERA_ID_IMX179 1
-#define CAMERA_ID_S5K3P8SP 2
-#define CAMERA_ID_OV8865 3
-#define CAMERA_ID_IMX298_FLIPPED 4
-#define CAMERA_ID_OV10640 5
-#define CAMERA_ID_LGC920 6
-#define CAMERA_ID_LGC615 7
-#define CAMERA_ID_AR0231 8
-#define CAMERA_ID_OX03C10 9
-#define CAMERA_ID_MAX 10
+#define CAMERA_ID_AR0231 0
+#define CAMERA_ID_OX03C10 1
+#define CAMERA_ID_MAX 2
 
 const int YUV_BUFFER_COUNT = 20;
 
@@ -55,7 +47,7 @@ typedef struct FrameMetadata {
   uint32_t frame_id;
 
   // Timestamps
-  uint64_t timestamp_sof; // only set on tici
+  uint64_t timestamp_sof;
   uint64_t timestamp_eof;
 
   // Exposure

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
@@ -665,51 +665,51 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   if (!enabled) return;
 
   struct cam_isp_in_port_info in_port_info = {
-      .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num],
+    .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num],
 
-      .lane_type = CAM_ISP_LANE_TYPE_DPHY,
-      .lane_num = 4,
-      .lane_cfg = 0x3210,
+    .lane_type = CAM_ISP_LANE_TYPE_DPHY,
+    .lane_num = 4,
+    .lane_cfg = 0x3210,
 
-      .vc = 0x0,
-      .dt = dt,
-      .format = CAM_FORMAT_MIPI_RAW_12,
+    .vc = 0x0,
+    .dt = dt,
+    .format = CAM_FORMAT_MIPI_RAW_12,
 
-      .test_pattern = 0x2,  // 0x3?
-      .usage_type = 0x0,
+    .test_pattern = 0x2,  // 0x3?
+    .usage_type = 0x0,
 
-      .left_start = 0,
-      .left_stop = ci.frame_width - 1,
-      .left_width = ci.frame_width,
+    .left_start = 0,
+    .left_stop = ci.frame_width - 1,
+    .left_width = ci.frame_width,
 
-      .right_start = 0,
-      .right_stop = ci.frame_width - 1,
-      .right_width = ci.frame_width,
+    .right_start = 0,
+    .right_stop = ci.frame_width - 1,
+    .right_width = ci.frame_width,
 
-      .line_start = 0,
-      .line_stop = ci.frame_height + ci.extra_height - 1,
-      .height = ci.frame_height + ci.extra_height,
+    .line_start = 0,
+    .line_stop = ci.frame_height + ci.extra_height - 1,
+    .height = ci.frame_height + ci.extra_height,
 
-      .pixel_clk = 0x0,
-      .batch_size = 0x0,
-      .dsp_mode = CAM_ISP_DSP_MODE_NONE,
-      .hbi_cnt = 0x0,
-      .custom_csid = 0x0,
-
-      .num_out_res = 0x1,
-      .data[0] = (struct cam_isp_out_port_info){
-          .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
-          .format = CAM_FORMAT_MIPI_RAW_12,
-          .width = ci.frame_width,
-          .height = ci.frame_height + ci.extra_height,
-          .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
-      },
+    .pixel_clk = 0x0,
+    .batch_size = 0x0,
+    .dsp_mode = CAM_ISP_DSP_MODE_NONE,
+    .hbi_cnt = 0x0,
+    .custom_csid = 0x0,
+
+    .num_out_res = 0x1,
+    .data[0] = (struct cam_isp_out_port_info){
+      .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
+      .format = CAM_FORMAT_MIPI_RAW_12,
+      .width = ci.frame_width,
+      .height = ci.frame_height + ci.extra_height,
+      .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
+    },
   };
   struct cam_isp_resource isp_resource = {
-      .resource_id = CAM_ISP_RES_ID_PORT,
-      .handle_type = CAM_HANDLE_USER_POINTER,
-      .res_hdl = (uint64_t)&in_port_info,
-      .length = sizeof(in_port_info),
+    .resource_id = CAM_ISP_RES_ID_PORT,
+    .handle_type = CAM_HANDLE_USER_POINTER,
+    .res_hdl = (uint64_t)&in_port_info,
+    .length = sizeof(in_port_info),
   };
 
   auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource);
@@ -1098,8 +1098,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
 
   std::string gain_bytes, time_bytes;
   if (env_ctrl_exp_from_params) {
-    gain_bytes = Params().get("CameraDebugExpGain");
-    time_bytes = Params().get("CameraDebugExpTime");
+    gain_bytes = params.get("CameraDebugExpGain");
+    time_bytes = params.get("CameraDebugExpTime");
   }
 
   if (gain_bytes.size() > 0 && time_bytes.size() > 0) {

diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
@@ -107,6 +107,9 @@ class CameraState {
   // Register parsing
   std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
   std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
+
+  // for debugging
+  Params params;
 };
 
 typedef struct MultiCameraState {

diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc
@@ -30,20 +30,20 @@ int do_cam_control(int fd, int op_code, void *handle, int size) {
 
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
   struct cam_acquire_dev_cmd cmd = {
-      .session_handle = session_handle,
-      .handle_type = CAM_HANDLE_USER_POINTER,
-      .num_resources = (uint32_t)(data ? num_resources : 0),
-      .resource_hdl = (uint64_t)data,
+    .session_handle = session_handle,
+    .handle_type = CAM_HANDLE_USER_POINTER,
+    .num_resources = (uint32_t)(data ? num_resources : 0),
+    .resource_hdl = (uint64_t)data,
   };
   int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
   return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
 }
 
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
   struct cam_config_dev_cmd cmd = {
-      .session_handle = session_handle,
-      .dev_handle = dev_handle,
-      .packet_handle = packet_handle,
+    .session_handle = session_handle,
+    .dev_handle = dev_handle,
+    .packet_handle = packet_handle,
   };
   return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
 }

diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h
@@ -1,6 +1,6 @@
 #pragma once
 
- #include <functional>
+#include <functional>
 #include <map>
 #include <memory>
 #include <mutex>

diff --git a/system/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl
diff --git a/system/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl