From 57eee8dfd09246332fe0731f83ab6f1c34c8b6f7 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 13 Jun 2022 16:27:13 +0200
Subject: [PATCH] camerad: remove unused SubMaster

---
 selfdrive/camerad/cameras/camera_qcom2.cc | 7 ++-----
 selfdrive/camerad/cameras/camera_qcom2.h  | 1 -
 selfdrive/camerad/test/camera_test.h      | 1 -
 3 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index d43beb0921e0f0..c1ffc1275a178d 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -837,7 +837,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
   s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
   s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
 
-  s->sm = new SubMaster({"driverState"});
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
 
@@ -948,7 +947,6 @@ void cameras_close(MultiCameraState *s) {
   s->road_cam.camera_close();
   s->wide_road_cam.camera_close();
 
-  delete s->sm;
   delete s->pm;
 }
 
@@ -1221,7 +1219,7 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal
   framed.setTemperaturesC({temp_0, temp_1});
 }
 
-static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
+static void driver_cam_auto_exposure(CameraState *c) {
   struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
   const CameraBuf *b = &c->buf;
   static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
@@ -1229,8 +1227,7 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
 }
 
 static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  s->sm->update(0);
-  driver_cam_auto_exposure(c, *(s->sm));
+  driver_cam_auto_exposure(c);
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index d869620e9ae7d4..88766a68e99e6a 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -106,6 +106,5 @@ typedef struct MultiCameraState {
   CameraState wide_road_cam;
   CameraState driver_cam;
 
-  SubMaster *sm;
   PubMaster *pm;
 } MultiCameraState;
diff --git a/selfdrive/camerad/test/camera_test.h b/selfdrive/camerad/test/camera_test.h
index cc521db39769b2..a9f213c923a40c 100644
--- a/selfdrive/camerad/test/camera_test.h
+++ b/selfdrive/camerad/test/camera_test.h
@@ -19,7 +19,6 @@ typedef struct MultiCameraState {
   CameraState road_cam;
   CameraState driver_cam;
 
-  SubMaster *sm = nullptr;
   PubMaster *pm = nullptr;
 } MultiCameraState;