camerad: log image sensor in camera states (#25786)

* camerad: log image sensor in camera states

* for all cams

* bump cereal

* revert that

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7352e6d940

cereal

@@ -1 +1 @@
-Subproject commit f363cc13c67d286f87606f35f91952927d1c2d4d
+Subproject commit bd2f7fa56706bcec3c9906bd57c2ec46f0666ac5

system/camerad/cameras/camera_common.cc

@@ -159,7 +159,7 @@ void CameraBuf::queue(size_t buf_idx) {
 
 // common functions
 
-void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data) {
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) {
   framed.setFrameId(frame_data.frame_id);
   framed.setTimestampEof(frame_data.timestamp_eof);
   framed.setTimestampSof(frame_data.timestamp_sof);
@@ -173,6 +173,12 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setLensErr(frame_data.lens_err);
   framed.setLensTruePos(frame_data.lens_true_pos);
   framed.setProcessingTime(frame_data.processing_time);
+
+  if (c->camera_id == CAMERA_ID_AR0231) {
+    framed.setSensor(cereal::FrameData::ImageSensor::AR0321);
+  } else if (c->camera_id == CAMERA_ID_OX03C10) {
+    framed.setSensor(cereal::FrameData::ImageSensor::OX03C10);
+  }
 }
 
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {

system/camerad/cameras/camera_common.h

@@ -113,7 +113,7 @@ public:
 
 typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
-void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
 kj::Array<uint8_t> get_raw_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);

system/camerad/cameras/camera_qcom2.cc

@@ -1208,7 +1208,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
   framed.setFrameType(cereal::FrameData::FrameType::FRONT);
-  fill_frame_data(framed, c->buf.cur_frame_data);
+  fill_frame_data(framed, c->buf.cur_frame_data, c);
 
   if (c->camera_id == CAMERA_ID_AR0231) {
     ar0231_process_registers(s, c, framed);
@@ -1221,7 +1221,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
 
   MessageBuilder msg;
   auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
-  fill_frame_data(framed, b->cur_frame_data);
+  fill_frame_data(framed, b->cur_frame_data, c);
   if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
     framed.setImage(get_raw_frame_image(b));
   }