camerad: remove camera frame stream (#23045)

* camerad: remove camera frame stream

* fix release files

SConstruct

@@ -60,7 +60,6 @@ if arch == "aarch64" and TICI:
   arch = "larch64"
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -352,7 +351,7 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
 
 SConscript(['selfdrive/common/SConscript'])
 Import('_common', '_gpucommon', '_gpu_libs')

release/files_common

@@ -368,8 +368,6 @@ selfdrive/camerad/snapshot/*
 selfdrive/camerad/include/*
 selfdrive/camerad/cameras/camera_common.h
 selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/camera_frame_stream.cc
-selfdrive/camerad/cameras/camera_frame_stream.h
 selfdrive/camerad/cameras/camera_qcom.cc
 selfdrive/camerad/cameras/camera_qcom.h
 selfdrive/camerad/cameras/camera_replay.cc

selfdrive/camerad/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM', 'USE_FRAME_STREAM')
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM')
 
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
 
@@ -18,15 +18,12 @@ else:
     env.Append(CFLAGS = '-DWEBCAM')
     env.Append(CPPPATH = ['/usr/include/opencv4', '/usr/local/include/opencv4'])
   else:
-    if USE_FRAME_STREAM:
+    libs += ['avutil', 'avcodec', 'avformat', 'bz2', 'ssl', 'curl', 'crypto']
-      cameras = ['cameras/camera_frame_stream.cc']
+    # TODO: import replay_lib from root SConstruct
-    else:
+    cameras = ['cameras/camera_replay.cc', 
-      libs += ['avutil', 'avcodec', 'avformat', 'bz2', 'ssl', 'curl', 'crypto']
+      env.Object('camera-util', '#/selfdrive/ui/replay/util.cc'),
-      # TODO: import replay_lib from root SConstruct
+      env.Object('camera-framereader', '#/selfdrive/ui/replay/framereader.cc'),
-      cameras = ['cameras/camera_replay.cc', 
+      env.Object('camera-filereader', '#/selfdrive/ui/replay/filereader.cc')]
-        env.Object('camera-util', '#/selfdrive/ui/replay/util.cc'),
-        env.Object('camera-framereader', '#/selfdrive/ui/replay/framereader.cc'),
-        env.Object('camera-filereader', '#/selfdrive/ui/replay/filereader.cc')]
 
   if arch == "Darwin":
     del libs[libs.index('OpenCL')]

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -1,92 +0,0 @@
-#include "selfdrive/camerad/cameras/camera_frame_stream.h"
-
-#include <unistd.h>
-#include <cassert>
-
-#include <capnp/dynamic.h>
-
-#include "cereal/messaging/messaging.h"
-#include "selfdrive/common/util.h"
-
-#define FRAME_WIDTH 1164
-#define FRAME_HEIGHT 874
-
-extern ExitHandler do_exit;
-
-namespace {
-
-// TODO: make this more generic
-CameraInfo cameras_supported[CAMERA_ID_MAX] = {
-  [CAMERA_ID_IMX298] = {
-    .frame_width = FRAME_WIDTH,
-    .frame_height = FRAME_HEIGHT,
-    .frame_stride = FRAME_WIDTH*3,
-    .bayer = false,
-    .bayer_flip = false,
-  },
-  [CAMERA_ID_OV8865] = {
-    .frame_width = 1632,
-    .frame_height = 1224,
-    .frame_stride = 2040, // seems right
-    .bayer = false,
-    .bayer_flip = 3,
-    .hdr = false
-  },
-};
-
-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) {
-  assert(camera_id < std::size(cameras_supported));
-  s->ci = cameras_supported[camera_id];
-  assert(s->ci.frame_width != 0);
-
-  s->camera_num = camera_id;
-  s->fps = fps;
-  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
-}
-
-void run_frame_stream(CameraState &camera, const char* frame_pkt) {
-  SubMaster sm({frame_pkt});
-
-  size_t buf_idx = 0;
-  while (!do_exit) {
-    sm.update(1000);
-    if(sm.updated(frame_pkt)) {
-      auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
-      auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
-      camera.buf.camera_bufs_metadata[buf_idx] = {
-        .frame_id = frame.get("frameId").as<uint32_t>(),
-        .timestamp_eof = frame.get("timestampEof").as<uint64_t>(),
-        .timestamp_sof = frame.get("timestampSof").as<uint64_t>(),
-      };
-
-      cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q;
-      cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl;
-
-      auto image = frame.get("image").as<capnp::Data>();
-      clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL);
-      camera.buf.queue(buf_idx);
-      buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
-    }
-  }
-}
-
-}  // namespace
-
-void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  camera_init(v, &s->road_cam, CAMERA_ID_IMX298, 20, device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);
-  camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 10, device_id, ctx,
-              VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
-}
-
-void cameras_open(MultiCameraState *s) {}
-void cameras_close(MultiCameraState *s) {}
-void camera_autoexposure(CameraState *s, float grey_frac) {}
-void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {}
-
-void cameras_run(MultiCameraState *s) {
-  std::thread t = start_process_thread(s, &s->road_cam, process_road_camera);
-  set_thread_name("frame_streaming");
-  run_frame_stream(s->road_cam, "roadCameraState");
-  t.join();
-}

selfdrive/camerad/cameras/camera_frame_stream.h

@@ -1,30 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "camera_common.h"
-
-#define FRAME_BUF_COUNT 16
-
-typedef struct CameraState {
-  int camera_num;
-  CameraInfo ci;
-
-  int fps;
-  float digital_gain;
-
-  CameraBuf buf;
-} CameraState;
-
-typedef struct MultiCameraState {
-  CameraState road_cam;
-  CameraState driver_cam;
-
-  SubMaster *sm;
-  PubMaster *pm;
-} MultiCameraState;

tools/sim/Dockerfile.sim

@@ -62,4 +62,4 @@ COPY ./selfdrive $HOME/openpilot/selfdrive
 COPY ./tools $HOME/openpilot/tools
 
 WORKDIR $HOME/openpilot
-RUN USE_FRAME_STREAM=1 scons -j$(nproc)
+RUN scons -j$(nproc)