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camerad: move `handle_camera_event` to SpectraCamera class (#33595)

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move handle event

Co-authored-by: Comma Device <device@comma.ai>
pull/33600/head
Dean Lee 7 months ago committed by GitHub
parent eea06b4c3e
commit 34f5ba46b3
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GPG Key ID: B5690EEEBB952194
5 changed files with 59 additions and 84 deletions
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  1. 4
      system/camerad/cameras/camera_common.cc
  2. 9
      system/camerad/cameras/camera_common.h
  3. 80
      system/camerad/cameras/camera_qcom2.cc
  4. 49
      system/camerad/cameras/spectra.cc
  5. 1
      system/camerad/cameras/spectra.h

4
system/camerad/cameras/camera_common.cc
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@ -102,7 +102,7 @@ CameraBuf::~CameraBuf() {
if (imgproc) delete imgproc;
}
bool CameraBuf::acquire() {
bool CameraBuf::acquire(int expo_time) {
if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
@ -115,7 +115,7 @@ bool CameraBuf::acquire() {
cur_camera_buf = &camera_bufs[cur_buf_idx];
double start_time = millis_since_boot();
imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, cur_frame_data.integ_lines);
imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
VisionIpcBufExtra extra = {

9
system/camerad/cameras/camera_common.h
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@ -19,13 +19,6 @@ typedef struct FrameMetadata {
uint64_t timestamp_sof;
uint64_t timestamp_eof;
// Exposure
unsigned int integ_lines;
bool high_conversion_gain;
float gain;
float measured_grey_fraction;
float target_grey_fraction;
float processing_time;
} FrameMetadata;
@ -53,7 +46,7 @@ public:
CameraBuf() = default;
~CameraBuf();
void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
bool acquire();
bool acquire(int expo_time);
void queue(size_t buf_idx);
};

80
system/camerad/cameras/camera_qcom2.cc
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@ -34,8 +34,6 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr;
// high level camera state
class CameraState : public SpectraCamera {
public:
std::mutex exp_lock;
int exposure_time = 5;
bool dc_gain_enabled = false;
int dc_gain_weight = 0;
@ -72,69 +70,8 @@ public:
gain_idx = sensor->analog_gain_rec_idx;
cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * sensor->sensor_analog_gains[gain_idx] * exposure_time;
};
// TODO: this should move to SpectraCamera
void handle_camera_event(void *evdat);
};
void CameraState::handle_camera_event(void *evdat) {
if (!enabled) return;
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
assert(event_data->session_hdl == session_handle);
assert(event_data->u.frame_msg.link_hdl == link_handle);
uint64_t timestamp = event_data->u.frame_msg.timestamp;
uint64_t main_id = event_data->u.frame_msg.frame_id;
uint64_t real_id = event_data->u.frame_msg.request_id;
if (real_id != 0) { // next ready
if (real_id == 1) {idx_offset = main_id;}
int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
// check for skipped frames
if (main_id > frame_id_last + 1 && !skipped) {
LOGE("camera %d realign", cc.camera_num);
clear_req_queue();
enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
skipped = true;
} else if (main_id == frame_id_last + 1) {
skipped = false;
}
// check for dropped requests
if (real_id > request_id_last + 1) {
LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
}
// metas
frame_id_last = main_id;
request_id_last = real_id;
auto &meta_data = buf.camera_bufs_metadata[buf_idx];
meta_data.frame_id = main_id - idx_offset;
meta_data.request_id = real_id;
meta_data.timestamp_sof = timestamp;
exp_lock.lock();
meta_data.gain = analog_gain_frac * get_gain_factor();
meta_data.high_conversion_gain = dc_gain_enabled;
meta_data.integ_lines = exposure_time;
meta_data.measured_grey_fraction = measured_grey_fraction;
meta_data.target_grey_fraction = target_grey_fraction;
exp_lock.unlock();
// dispatch
enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
} else { // not ready
if (main_id > frame_id_last + 10) {
LOGE("camera %d reset after half second of no response", cc.camera_num);
clear_req_queue();
enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
frame_id_last = main_id;
skipped = true;
}
}
}
void CameraState::set_exposure_rect() {
// set areas for each camera, shouldn't be changed
@ -250,8 +187,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
}
}
exp_lock.lock();
measured_grey_fraction = grey_frac;
target_grey_fraction = target_grey;
@ -263,8 +198,6 @@ void CameraState::set_camera_exposure(float grey_frac) {
float gain = analog_gain_frac * get_gain_factor();
cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
exp_lock.unlock();
// Processing a frame takes right about 50ms, so we need to wait a few ms
// so we don't send i2c commands around the frame start.
int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000;
@ -286,7 +219,7 @@ void CameraState::run() {
for (uint32_t cnt = 0; !do_exit; ++cnt) {
// Acquire the buffer; continue if acquisition fails
if (!buf.acquire()) continue;
if (!buf.acquire(exposure_time)) continue;
MessageBuilder msg;
auto framed = (msg.initEvent().*cc.init_camera_state)();
@ -294,11 +227,11 @@ void CameraState::run() {
framed.setRequestId(buf.cur_frame_data.request_id);
framed.setTimestampEof(buf.cur_frame_data.timestamp_eof);
framed.setTimestampSof(buf.cur_frame_data.timestamp_sof);
framed.setIntegLines(buf.cur_frame_data.integ_lines);
framed.setGain(buf.cur_frame_data.gain);
framed.setHighConversionGain(buf.cur_frame_data.high_conversion_gain);
framed.setMeasuredGreyFraction(buf.cur_frame_data.measured_grey_fraction);
framed.setTargetGreyFraction(buf.cur_frame_data.target_grey_fraction);
framed.setIntegLines(exposure_time);
framed.setGain(analog_gain_frac * get_gain_factor());
framed.setHighConversionGain(dc_gain_enabled);
framed.setMeasuredGreyFraction(measured_grey_fraction);
framed.setTargetGreyFraction(target_grey_fraction);
framed.setProcessingTime(buf.cur_frame_data.processing_time);
const float ev = cur_ev[buf.cur_frame_data.frame_id % 3];
@ -328,7 +261,6 @@ void camerad_thread() {
TODO: future cleanups
- centralize enabled handling
- open/init/etc mess
- no ISP stuff in this file
*/
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);

49
system/camerad/cameras/spectra.cc
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@ -817,3 +817,52 @@ void SpectraCamera::camera_close() {
ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info));
LOGD("destroyed session %d: %d", cc.camera_num, ret);
}
void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
if (!enabled) return;
uint64_t timestamp = event_data->u.frame_msg.timestamp;
uint64_t main_id = event_data->u.frame_msg.frame_id;
uint64_t real_id = event_data->u.frame_msg.request_id;
if (real_id != 0) { // next ready
if (real_id == 1) {idx_offset = main_id;}
int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
// check for skipped frames
if (main_id > frame_id_last + 1 && !skipped) {
LOGE("camera %d realign", cc.camera_num);
clear_req_queue();
enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
skipped = true;
} else if (main_id == frame_id_last + 1) {
skipped = false;
}
// check for dropped requests
if (real_id > request_id_last + 1) {
LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
}
// metas
frame_id_last = main_id;
request_id_last = real_id;
auto &meta_data = buf.camera_bufs_metadata[buf_idx];
meta_data.frame_id = main_id - idx_offset;
meta_data.request_id = real_id;
meta_data.timestamp_sof = timestamp;
// dispatch
enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
} else { // not ready
if (main_id > frame_id_last + 10) {
LOGE("camera %d reset after half second of no response", cc.camera_num);
clear_req_queue();
enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
frame_id_last = main_id;
skipped = true;
}
}
}

1
system/camerad/cameras/spectra.h
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@ -65,6 +65,7 @@ public:
~SpectraCamera();
void camera_open();
void handle_camera_event(const cam_req_mgr_message *event_data);
void camera_close();
void camera_map_bufs();
void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);

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