camerad: add CameraConfig struct for initializing CameraState in cons…

…tructor (commaai#33065)

* Add CameraConfig struct for initializing CameraState in constructor

* init member variables
old-commit-hash: 75f49f8

system/camerad/cameras/camera_common.cc

@@ -324,7 +324,7 @@ void camerad_thread() {
 #endif
 
  {
- MultiCameraState cameras = {};
+ MultiCameraState cameras;
  VisionIpcServer vipc_server("camerad", device_id, context);
 
  cameras_open(&cameras);

system/camerad/cameras/camera_common.h

@@ -18,9 +18,6 @@ enum CameraType {
 };
 
 // for debugging
-const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
-const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
-const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;

system/camerad/cameras/camera_qcom2.cc

@@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
+CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
+ : multi_cam_state(multi_camera_state),
+ camera_num(config.camera_num),
+ stream_type(config.stream_type),
+ focal_len(config.focal_len),
+ enabled(config.enabled) {
+}
+
 int CameraState::clear_req_queue() {
  struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
  req_mgr_flush_request.session_hdl = session_handle;
@@ -425,48 +433,38 @@ void CameraState::set_exposure_rect() {
 }
 
 void CameraState::sensor_set_parameters() {
- target_grey_fraction = 0.3;
-
- dc_gain_enabled = false;
  dc_gain_weight = ci->dc_gain_min_weight;
  gain_idx = ci->analog_gain_rec_idx;
- exposure_time = 5;
  cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs(MultiCameraState *s) {
+void CameraState::camera_map_bufs() {
  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
  // configure ISP to put the image in place
  struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
- mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+ mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
  mem_mgr_map_cmd.num_hdl = 1;
  mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
  mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
- int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+ int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
  LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
  buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
  }
  enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
+void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
  if (!enabled) return;
 
  LOGD("camera init %d", camera_num);
- request_id_last = 0;
- skipped = true;
-
- buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
- camera_map_bufs(s);
+ buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
+ camera_map_bufs();
 
  fl_pix = focal_len / ci->pixel_size_mm;
  set_exposure_rect();
 }
 
-void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
- multi_cam_state = multi_cam_state_;
- camera_num = camera_num_;
- enabled = enabled_;
+void CameraState::camera_open() {
  if (!enabled) return;
 
  if (!openSensor()) {
@@ -660,9 +658,9 @@ void CameraState::linkDevices() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
- s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
- s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
- s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
+ s->driver_cam.camera_init(v, device_id, ctx);
+ s->road_cam.camera_init(v, device_id, ctx);
+ s->wide_road_cam.camera_init(v, device_id, ctx);
 
  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -706,11 +704,11 @@ void cameras_open(MultiCameraState *s) {
  ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
  LOGD("req mgr subscribe: %d", ret);
 
- s->driver_cam.camera_open(s, 2, !env_disable_driver);
+ s->driver_cam.camera_open();
  LOGD("driver camera opened");
- s->road_cam.camera_open(s, 1, !env_disable_road);
+ s->road_cam.camera_open();
  LOGD("road camera opened");
- s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
+ s->wide_road_cam.camera_open();
  LOGD("wide road camera opened");
 }
 
@@ -972,6 +970,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
  c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
 }
 
+MultiCameraState::MultiCameraState()
+ : driver_cam(this, DRIVER_CAMERA_CONFIG),
+ road_cam(this, ROAD_CAMERA_CONFIG),
+ wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
+}
+
 void cameras_run(MultiCameraState *s) {
  LOG("-- Starting threads");
  std::vector<std::thread> threads;

system/camerad/cameras/camera_qcom2.h

@@ -11,67 +11,94 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
-#define WIDE_FL_MM 1.71f
-#define DRIVER_FL_MM 1.71f
+struct CameraConfig {
+ int camera_num;
+ VisionStreamType stream_type;
+ float focal_len; // millimeters
+ bool enabled;
+};
+
+const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
+ .camera_num = 0,
+ .stream_type = VISION_STREAM_WIDE_ROAD,
+ .focal_len = 1.71,
+ .enabled = !getenv("DISABLE_WIDE_ROAD"),
+};
+
+const CameraConfig ROAD_CAMERA_CONFIG = {
+ .camera_num = 1,
+ .stream_type = VISION_STREAM_ROAD,
+ .focal_len = 8.0,
+ .enabled = !getenv("DISABLE_ROAD"),
+};
+
+const CameraConfig DRIVER_CAMERA_CONFIG = {
+ .camera_num = 2,
+ .stream_type = VISION_STREAM_DRIVER,
+ .focal_len = 1.71,
+ .enabled = !getenv("DISABLE_DRIVER"),
+};
 
 class CameraState {
 public:
- MultiCameraState *multi_cam_state;
+ MultiCameraState *multi_cam_state = nullptr;
  std::unique_ptr<const SensorInfo> ci;
- bool enabled;
+ bool enabled = true;
+ VisionStreamType stream_type;
+ float focal_len = 0;
 
  std::mutex exp_lock;
 
- int exposure_time;
- bool dc_gain_enabled;
- int dc_gain_weight;
- int gain_idx;
- float analog_gain_frac;
+ int exposure_time = 5;
+ bool dc_gain_enabled = false;
+ int dc_gain_weight = 0;
+ int gain_idx = 0;
+ float analog_gain_frac = 0;
 
- float cur_ev[3];
- float best_ev_score;
- int new_exp_g;
- int new_exp_t;
+ float cur_ev[3] = {};
+ float best_ev_score = 0;
+ int new_exp_g = 0;
+ int new_exp_t = 0;
 
- Rect ae_xywh;
- float measured_grey_fraction;
- float target_grey_fraction;
+ Rect ae_xywh = {};
+ float measured_grey_fraction = 0;
+ float target_grey_fraction = 0.3;
 
  unique_fd sensor_fd;
  unique_fd csiphy_fd;
 
- int camera_num;
- float fl_pix;
+ int camera_num = 0;
+ float fl_pix = 0;
 
+ CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
  void handle_camera_event(void *evdat);
  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
  void set_camera_exposure(float grey_frac);
 
  void sensors_start();
 
- void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+ void camera_open();
  void set_exposure_rect();
  void sensor_set_parameters();
- void camera_map_bufs(MultiCameraState *s);
- void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
+ void camera_map_bufs();
+ void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
  void camera_close();
 
- int32_t session_handle;
- int32_t sensor_dev_handle;
- int32_t isp_dev_handle;
- int32_t csiphy_dev_handle;
+ int32_t session_handle = -1;
+ int32_t sensor_dev_handle = -1;
+ int32_t isp_dev_handle = -1;
+ int32_t csiphy_dev_handle = -1;
 
- int32_t link_handle;
+ int32_t link_handle = -1;
 
- int buf0_handle;
- int buf_handle[FRAME_BUF_COUNT];
- int sync_objs[FRAME_BUF_COUNT];
- int request_ids[FRAME_BUF_COUNT];
- int request_id_last;
- int frame_id_last;
- int idx_offset;
- bool skipped;
+ int buf0_handle = 0;
+ int buf_handle[FRAME_BUF_COUNT] = {};
+ int sync_objs[FRAME_BUF_COUNT] = {};
+ int request_ids[FRAME_BUF_COUNT] = {};
+ int request_id_last = 0;
+ int frame_id_last = 0;
+ int idx_offset = 0;
+ bool skipped = true;
 
  CameraBuf buf;
  MemoryManager mm;
@@ -95,16 +122,19 @@ class CameraState {
  Params params;
 };
 
-typedef struct MultiCameraState {
+class MultiCameraState {
+public:
+ MultiCameraState();
+
  unique_fd video0_fd;
  unique_fd cam_sync_fd;
  unique_fd isp_fd;
- int device_iommu;
- int cdm_iommu;
+ int device_iommu = -1;
+ int cdm_iommu = -1;
 
  CameraState road_cam;
  CameraState wide_road_cam;
  CameraState driver_cam;
 
  PubMaster *pm;
-} MultiCameraState;
+};