camerad: re-enable ISP debayer (#34212)

camerad: re-enable ISP debayer

Co-authored-by: Comma Device <device@comma.ai>

system/camerad/cameras/camera_qcom2.cc

@@ -55,7 +55,7 @@ public:
 
   float fl_pix = 0;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);

system/camerad/cameras/spectra.cc

@@ -51,12 +51,12 @@ int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) {
   };
   int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg));
 
-  int32_t ioctl_result = (int32_t)arg.result;
+  int32_t ioctl_result = static_cast<int32_t>(arg.result);
   if (ret < 0) {
     LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
     return ret;
   }
-  if (ioctl_result < 0) {
+  if (ioctl_result != 0) {
     LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
     return ioctl_result;
   }
@@ -675,18 +675,21 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   uint64_t request_id = request_ids[i];
 
   if (sync_objs[i]) {
-    // wait
+    // SOF has come in, wait until readout is complete
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
-    sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
+    sync_wait.timeout_ms = 100;
     ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
     if (ret != 0) {
-      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
       // TODO: handle frame drop cleanly
+      // when this happens, it messes up future frames
+      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
     }
     buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
     buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
-    if (dp) buf.queue(i);
+    if (dp) {
+      buf.queue(i);
+    }
 
     // destroy old output fence
     for (auto so : {sync_objs, sync_objs_bps_out}) {

system/hardware/tici/tests/test_power_draw.py

@@ -31,7 +31,7 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),