From e09c8bdfa9223e2e0015d0b6318a21e1012f8d58 Mon Sep 17 00:00:00 2001 From: Tici Engineer Date: Mon, 24 Aug 2020 21:44:04 +0000 Subject: [PATCH] some more minor cleanup --- selfdrive/camerad/main.cc | 17 ++--------------- 1 file changed, 2 insertions(+), 15 deletions(-) diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc index 659cc966fd..1e975fa8f5 100644 --- a/selfdrive/camerad/main.cc +++ b/selfdrive/camerad/main.cc @@ -453,8 +453,6 @@ void* wideview_thread(void *arg) { double t2 = millis_since_boot(); - uint8_t *bgr_ptr = (uint8_t*)s->rgb_wide_bufs[rgb_idx].addr; - double yt1 = millis_since_boot(); int yuv_idx = pool_select(&s->yuv_wide_pool); @@ -462,8 +460,6 @@ void* wideview_thread(void *arg) { s->yuv_wide_metas[yuv_idx] = frame_data; uint8_t* yuv_ptr_y = s->yuv_wide_bufs[yuv_idx].y; - uint8_t* yuv_ptr_u = s->yuv_wide_bufs[yuv_idx].u; - uint8_t* yuv_ptr_v = s->yuv_wide_bufs[yuv_idx].v; cl_mem yuv_wide_cl = s->yuv_wide_cl[yuv_idx]; rgb_to_yuv_queue(&s->wide_rgb_to_yuv_state, q, s->rgb_wide_bufs_cl[rgb_idx], yuv_wide_cl); visionbuf_sync(&s->yuv_wide_ion[yuv_idx], VISIONBUF_SYNC_FROM_DEVICE); @@ -476,7 +472,7 @@ void* wideview_thread(void *arg) { // send frame event { - if (s->wide_frame_sock != NULL) { + if (s->pm != NULL) { capnp::MallocMessageBuilder msg; cereal::Event::Builder event = msg.initRoot(); event.setLogMonoTime(nanos_since_boot()); @@ -494,16 +490,7 @@ void* wideview_thread(void *arg) { framed.setLensTruePos(frame_data.lens_true_pos); framed.setGainFrac(frame_data.gain_frac); -#if !defined(QCOM) && !defined(QCOM2) - framed.setImage(kj::arrayPtr((const uint8_t*)s->yuv_ion[yuv_idx].addr, s->yuv_buf_size)); -#endif - - kj::ArrayPtr transform_vs(&s->yuv_transform.v[0], 9); - framed.setTransform(transform_vs); - - auto words = capnp::messageToFlatArray(msg); - auto bytes = words.asBytes(); - s->wide_frame_sock->send((char*)bytes.begin(), bytes.size()); + s->pm->send("wideFrame", msg); } }