From 4754da9fbc7e931d96c8f7dd6aacd5f8ee8cd3af Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 13 Dec 2021 22:07:31 +0800
Subject: [PATCH] common_process_driver_camera: same parameters as
 process_thread_cb (#23202)

old-commit-hash: 5c6229f3df7ab499fa0a6121a327d9d538a2c847
---
 selfdrive/camerad/cameras/camera_common.cc | 8 ++++----
 selfdrive/camerad/cameras/camera_common.h  | 2 +-
 selfdrive/camerad/cameras/camera_qcom.cc   | 6 +-----
 selfdrive/camerad/cameras/camera_qcom2.cc  | 7 +------
 4 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index 3581e56ddd..6dcbf18c4b 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -408,11 +408,11 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
   camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
 }
 
-void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
+void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
   int j = Hardware::TICI() ? 1 : 3;
   if (cnt % j == 0) {
-    sm->update(0);
-    driver_cam_auto_exposure(c, *sm);
+    s->sm->update(0);
+    driver_cam_auto_exposure(c, *(s->sm));
   }
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
@@ -421,5 +421,5 @@ void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c,
   if (env_send_driver) {
     framed.setImage(get_frame_image(&c->buf));
   }
-  pm->send("driverCameraState", msg);
+  s->pm->send("driverCameraState", msg);
 }
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index 20c00c5b5b..9394f90756 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -123,7 +123,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
 kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
-void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
+void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt);
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
 void cameras_open(MultiCameraState *s);
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index 04dc624e79..5b24b639f2 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -1086,10 +1086,6 @@ static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t la
   c->self_recover.store(self_recover);
 }
 
-void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  common_process_driver_camera(s->sm, s->pm, c, cnt);
-}
-
 // called by processing_thread
 void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   const CameraBuf *b = &c->buf;
@@ -1121,7 +1117,7 @@ void cameras_run(MultiCameraState *s) {
   std::vector<std::thread> threads;
   threads.push_back(std::thread(ops_thread, s));
   threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
+  threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));
 
   CameraState* cameras[2] = {&s->road_cam, &s->driver_cam};
 
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 3ea065ae73..030bbe47e1 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -987,11 +987,6 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
   set_camera_exposure(s, grey_frac);
 }
 
-
-void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  common_process_driver_camera(s->sm, s->pm, c, cnt);
-}
-
 // called by processing_thread
 void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   const CameraBuf *b = &c->buf;
@@ -1016,7 +1011,7 @@ void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
   threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
+  threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));
   threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
 
   // start devices