camerad: remove unused SubMaster (commaai#24844)

netadvanced · Jun 15, 2022 · 794f80c · 794f80c
1 parent 20bd8dc
commit 794f80c
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Showing 3 changed files with 2 additions and 7 deletions.
diff --git 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;
 }
 
@@ -1221,16 +1219,15 @@ 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};
   camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
 }
 
 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
@@ -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
@@ -19,7 +19,6 @@ typedef struct MultiCameraState {
   CameraState road_cam;
   CameraState driver_cam;
 
-  SubMaster *sm = nullptr;
   PubMaster *pm = nullptr;
 } MultiCameraState;