FIX: It is not safe to call cameras_close before all threads are done. (#19555)

* call cameras_close after all threads exited

* stop buffer before join

* remove buf->stop

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -25,7 +25,7 @@ void camera_open(CameraState *s, bool rear) {
 }
 
 void camera_close(CameraState *s) {
-  s->buf.stop();
+  // empty
 }
 
 void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
@@ -117,6 +117,6 @@ void cameras_run(MultiCameraState *s) {
   std::thread t = start_process_thread(s, "processing", &s->rear, camera_process_rear);
   set_thread_name("frame_streaming");
   run_frame_stream(s);
-  cameras_close(s);
   t.join();
+  cameras_close(s);
 }

selfdrive/camerad/cameras/camera_qcom.cc

@@ -1491,8 +1491,6 @@ void cameras_open(MultiCameraState *s) {
 
 
 static void camera_close(CameraState *s) {
-  s->buf.stop();
-
   // ISP: STOP_STREAM
   s->stream_cfg.cmd = STOP_STREAM;
   int err = ioctl(s->isp_fd, VIDIOC_MSM_ISP_CFG_STREAM, &s->stream_cfg);
@@ -1783,9 +1781,9 @@ void cameras_run(MultiCameraState *s) {
   err = pthread_join(ops_thread_handle, NULL);
   assert(err == 0);
 
-  cameras_close(s);
-
   for (auto &t : threads) t.join();
+
+  cameras_close(s);
 }
 
 void cameras_close(MultiCameraState *s) {

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -903,7 +903,6 @@ static void camera_close(CameraState *s) {
 
   ret = cam_control(s->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &s->req_mgr_session_info, sizeof(s->req_mgr_session_info));
   LOGD("destroyed session: %d", ret);
-  s->buf.stop();
 }
 
 static void cameras_close(MultiCameraState *s) {
@@ -1197,7 +1196,7 @@ void cameras_run(MultiCameraState *s) {
   err = pthread_join(ae_thread_handle, NULL);
   assert(err == 0);
 
-  cameras_close(s);
-
   for (auto &t : threads) t.join();
+
+  cameras_close(s);
 }

selfdrive/camerad/cameras/camera_webcam.cc

@@ -31,7 +31,7 @@ void camera_open(CameraState *s, bool rear) {
 }
 
 void camera_close(CameraState *s) {
-  s->buf.stop();
+  // empty
 }
 
 void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
@@ -271,8 +271,10 @@ void cameras_run(MultiCameraState *s) {
   std::thread t_rear = std::thread(rear_thread, &s->rear);
   set_thread_name("webcam_thread");
   front_thread(&s->front);
+
   t_rear.join();
-  cameras_close(s);
 
   for (auto &t : threads) t.join();
+
+  cameras_close(s);
 }