From dfd521325d7fb34c1d05325d0eacad85f4df4d91 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 2 Mar 2022 13:56:00 +0100
Subject: [PATCH] camerad: log debayer + yuv processing time (#23894)

* camerad: log debayer + yuv processing time

* bump cereal
old-commit-hash: aabd9a0dff9240fdf2beb2b83b9b35ec0d1bb0b6
---
 cereal                                     | 2 +-
 selfdrive/camerad/cameras/camera_common.cc | 5 +++++
 selfdrive/camerad/cameras/camera_common.h  | 2 ++
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/cereal b/cereal
index f16d2a211b..80a5b91e34 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit f16d2a211bd5d79b5094ac1abc22d7a5241df101
+Subproject commit 80a5b91e34ecac3e0d504c35f76dd25a34467672
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index f534cad99c..20edab14ea 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -161,6 +161,8 @@ bool CameraBuf::acquire() {
   cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl;
   cl_event event;
 
+  float start_time = millis_since_boot();
+
   if (debayer) {
     float gain = 0.0;
 
@@ -181,6 +183,8 @@ bool CameraBuf::acquire() {
   cur_yuv_buf = vipc_server->get_buffer(yuv_type);
   rgb2yuv->queue(q, cur_rgb_buf->buf_cl, cur_yuv_buf->buf_cl);
 
+  cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
+
   VisionIpcBufExtra extra = {
                         cur_frame_data.frame_id,
                         cur_frame_data.timestamp_sof,
@@ -219,6 +223,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setLensPos(frame_data.lens_pos);
   framed.setLensErr(frame_data.lens_err);
   framed.setLensTruePos(frame_data.lens_true_pos);
+  framed.setProcessingTime(frame_data.processing_time);
 }
 
 kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index c2d2904f54..d3cdc67b91 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -75,6 +75,8 @@ typedef struct FrameMetadata {
   unsigned int lens_pos;
   float lens_err;
   float lens_true_pos;
+
+  float processing_time;
 } FrameMetadata;
 
 typedef struct CameraExpInfo {