camera_qcom: cleanup main() (#19805)

* cleanup main

* continue

* remove last_t from CameraState

* cleanup
old-commit-hash: 139470f033

selfdrive/camerad/cameras/camera_qcom.cc

@@ -1685,7 +1685,6 @@ void cameras_run(MultiCameraState *s) {
   while (!do_exit) {
     struct pollfd fds[2] = {{.fd = cameras[0]->isp_fd, .events = POLLPRI},
                             {.fd = cameras[1]->isp_fd, .events = POLLPRI}};
-
     int ret = poll(fds, ARRAYSIZE(fds), 1000);
     if (ret < 0) {
       if (errno == EINTR || errno == EAGAIN) continue;
@@ -1701,51 +1700,25 @@ void cameras_run(MultiCameraState *s) {
 
       struct v4l2_event ev = {};
       ret = ioctl(c->isp_fd, VIDIOC_DQEVENT, &ev);
-      struct msm_isp_event_data *isp_event_data = (struct msm_isp_event_data *)ev.u.data;
-      unsigned int event_type = ev.type;
-
-      uint64_t timestamp = (isp_event_data->mono_timestamp.tv_sec*1000000000ULL
-                            + isp_event_data->mono_timestamp.tv_usec*1000);
-
-      int buf_idx = isp_event_data->u.buf_done.buf_idx;
-      int stream_id = isp_event_data->u.buf_done.stream_id;
-      int buffer = (stream_id&0xFFFF) - 1;
-
-      uint64_t t = nanos_since_boot();
-
-      /*if (i == 1) {
-        printf("%10.2f: VIDIOC_DQEVENT: %d  type:%X (%s)\n", t*1.0/1e6, ret, event_type, get_isp_event_name(event_type));
-      }*/
-
-      // printf("%d: %s\n", i, get_isp_event_name(event_type));
-
-      switch (event_type) {
-      case ISP_EVENT_BUF_DIVERT:
-
-        /*if (c->is_samsung) {
-          printf("write %d\n", c->frame_size);
-          FILE *f = fopen("/tmp/test", "wb");
-          fwrite((void*)c->camera_bufs[i].addr, 1, c->frame_size, f);
-          fclose(f);
-        }*/
-        //printf("divert: %d %d %d\n", i, buffer, buf_idx);
+      const msm_isp_event_data *isp_event_data = (const msm_isp_event_data *)ev.u.data;
 
+      if (ev.type == ISP_EVENT_BUF_DIVERT) {
+        const int buf_idx = isp_event_data->u.buf_done.buf_idx;
+        const int buffer = (isp_event_data->u.buf_done.stream_id & 0xFFFF) - 1;
         if (buffer == 0) {
           c->buf.camera_bufs_metadata[buf_idx] = get_frame_metadata(c, isp_event_data->frame_id);
           c->buf.queue(buf_idx);
         } else {
-          uint8_t *d = (uint8_t*)(c->ss[buffer].bufs[buf_idx].addr);
+          auto &ss = c->ss[buffer];
           if (buffer == 1) {
-            parse_autofocus(c, d);
+            parse_autofocus(c, (uint8_t *)(ss.bufs[buf_idx].addr));
           }
-          c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1;
-          ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]);
+          ss.qbuf_info[buf_idx].dirty_buf = 1;
+          ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &ss.qbuf_info[buf_idx]);
         }
-        break;
-      case ISP_EVENT_EOF:
-        // printf("ISP_EVENT_EOF delta %f\n", (t-last_t)/1e6);
-        c->last_t = t;
 
+      } else if (ev.type == ISP_EVENT_EOF) {
+        const uint64_t timestamp = (isp_event_data->mono_timestamp.tv_sec * 1000000000ULL + isp_event_data->mono_timestamp.tv_usec * 1000);
         pthread_mutex_lock(&c->frame_info_lock);
         c->frame_metadata[c->frame_metadata_idx] = (FrameMetadata){
             .frame_id = isp_event_data->frame_id,
@@ -1759,13 +1732,11 @@ void cameras_run(MultiCameraState *s) {
             .lens_true_pos = c->lens_true_pos,
             .gain_frac = c->cur_gain_frac,
         };
-        c->frame_metadata_idx = (c->frame_metadata_idx+1)%METADATA_BUF_COUNT;
+        c->frame_metadata_idx = (c->frame_metadata_idx + 1) % METADATA_BUF_COUNT;
         pthread_mutex_unlock(&c->frame_info_lock);
 
-        break;
-      case ISP_EVENT_ERROR:
+      } else if (ev.type == ISP_EVENT_ERROR) {
         LOGE("ISP_EVENT_ERROR! err type: 0x%08x", isp_event_data->u.error_info.err_type);
-        break;
       }
     }
   }

selfdrive/camerad/cameras/camera_qcom.h

@@ -91,8 +91,6 @@ typedef struct CameraState {
 
   StreamState ss[3];
 
-  uint64_t last_t;
-
   camera_apply_exposure_func apply_exposure;
 
   int16_t focus[NUM_FOCUS];