common_process_driver_camera: same parameters as process_thread_cb (#23202)

old-commit-hash: 5c6229f3df

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);
+    s->sm->update(0);
-    driver_cam_auto_exposure(c, *sm);
+    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);
 }

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);

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};
 

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