Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

camerad: use open_v4l_by_name_and_index on c2 also #23794

Merged
merged 2 commits into from
Feb 19, 2022
Merged

camerad: use open_v4l_by_name_and_index on c2 also #23794

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c3ebe6e
use open_v4l_by_name_and_index on c2 also
geohot Feb 18, 2022
b1f0d38
remove open_v4l_by_name_and_index from qcom2
geohot Feb 18, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 13 additions & 0 deletions selfdrive/camerad/cameras/camera_common.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -447,3 +447,16 @@ void camerad_thread() {

CL_CHECK(clReleaseContext(context));
}

int open_v4l_by_name_and_index(const char name[], int index, int flags) {
for (int v4l_index = 0; /**/; ++v4l_index) {
std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
if (v4l_name.empty()) return -1;
if (v4l_name.find(name) == 0) {
if (index == 0) {
return HANDLE_EINTR(open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags));
}
index--;
}
}
}
2 changes: 2 additions & 0 deletions selfdrive/camerad/cameras/camera_common.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -135,3 +135,5 @@ void cameras_run(MultiCameraState *s);
void cameras_close(MultiCameraState *s);
void camera_autoexposure(CameraState *s, float grey_frac);
void camerad_thread();

int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
31 changes: 11 additions & 20 deletions selfdrive/camerad/cameras/camera_qcom.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -399,7 +399,7 @@ static void sensors_init(MultiCameraState *s) {
.output_format = MSM_SENSOR_BAYER,
}};

unique_fd sensorinit_fd = HANDLE_EINTR(open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK));
unique_fd sensorinit_fd = open_v4l_by_name_and_index("msm_sensor_init");
assert(sensorinit_fd >= 0);
for (auto &info : slave_infos) {
info.power_setting_array.power_setting = &info.power_setting_array.power_setting_a[0];
Expand All @@ -417,31 +417,22 @@ static void camera_open(CameraState *s, bool is_road_cam) {
struct msm_actuator_cfg_data actuator_cfg_data = {};

// open devices
const char *sensor_dev;
s->csid_fd = open_v4l_by_name_and_index("msm_csid", is_road_cam ? 0 : 2);
assert(s->csid_fd >= 0);
s->csiphy_fd = open_v4l_by_name_and_index("msm_csiphy", is_road_cam ? 0 : 2);
assert(s->csiphy_fd >= 0);
s->isp_fd = open_v4l_by_name_and_index("vfe", is_road_cam ? 0 : 1);
assert(s->isp_fd >= 0);

if (is_road_cam) {
s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK));
assert(s->csid_fd >= 0);
s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev0", O_RDWR | O_NONBLOCK));
assert(s->csiphy_fd >= 0);
sensor_dev = "/dev/v4l-subdev17";
s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK));
assert(s->isp_fd >= 0);
s->actuator_fd = HANDLE_EINTR(open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK));
s->actuator_fd = open_v4l_by_name_and_index("msm_actuator");
assert(s->actuator_fd >= 0);
} else {
s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK));
assert(s->csid_fd >= 0);
s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev2", O_RDWR | O_NONBLOCK));
assert(s->csiphy_fd >= 0);
sensor_dev = "/dev/v4l-subdev18";
s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK));
assert(s->isp_fd >= 0);
}

// wait for sensor device
// on first startup, these devices aren't present yet
for (int i = 0; i < 10; i++) {
s->sensor_fd = HANDLE_EINTR(open(sensor_dev, O_RDWR | O_NONBLOCK));
s->sensor_fd = open_v4l_by_name_and_index(is_road_cam ? "imx298" : "ov8865_sunny");
if (s->sensor_fd >= 0) break;
LOGW("waiting for sensors...");
util::sleep_for(1000); // sleep one second
Expand Down Expand Up @@ -908,7 +899,7 @@ void cameras_open(MultiCameraState *s) {
s->v4l_fd = HANDLE_EINTR(open("/dev/video0", O_RDWR | O_NONBLOCK));
assert(s->v4l_fd >= 0);

s->ispif_fd = HANDLE_EINTR(open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK));
s->ispif_fd = open_v4l_by_name_and_index("msm_ispif");
assert(s->ispif_fd >= 0);

// ISPIF: stop
Expand Down
13 changes: 0 additions & 13 deletions selfdrive/camerad/cameras/camera_qcom2.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -578,19 +578,6 @@ static void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v,
s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
}

int open_v4l_by_name_and_index(const char name[], int index, int flags = O_RDWR | O_NONBLOCK) {
for (int v4l_index = 0; /**/; ++v4l_index) {
std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
if (v4l_name.empty()) return -1;
if (v4l_name.find(name) == 0) {
if (index == 0) {
return open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags);
}
index--;
}
}
}

static void camera_open(CameraState *s) {
s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
assert(s->sensor_fd >= 0);
Expand Down