camerad: build camerad on PC (#25726)

* compile camerad on PC

* scons cleanup

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 29f9c536b4

SConstruct

@@ -99,9 +99,6 @@ if arch == "larch64":
     "#third_party/libyuv/larch64/lib",
     "/usr/lib/aarch64-linux-gnu"
   ]
-  cpppath += [
-    "#system/camerad/include",
-  ]
   cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   rpath += ["/usr/local/lib"]

system/camerad/SConscript

@@ -1,22 +1,18 @@
 Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
+libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
 
-cameras = []
-if arch == "larch64":
-  libs += ['atomic']
-  cameras = ['cameras/camera_qcom2.cc']
+cenv = env.Clone()
+cenv['CPPPATH'].append('include/')
 
-  env.Program('camerad', [
-      'main.cc',
-      'cameras/camera_common.cc',
-      'cameras/camera_util.cc',
-      'imgproc/utils.cc',
-      cameras,
-    ], LIBS=libs)
+camera_obj = cenv.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc'])
+cenv.Program('camerad', [
+    'main.cc',
+    camera_obj,
+  ], LIBS=libs)
 
 if GetOption("test") and arch == "x86_64":
-  env.Program('test/ae_gray_test', [
+  cenv.Program('test/ae_gray_test', [
       'test/ae_gray_test.cc',
-      'cameras/camera_common.cc',
+      camera_obj,
     ], LIBS=libs)

system/camerad/cameras/camera_common.cc

@@ -18,11 +18,9 @@
 #include "system/hardware/hw.h"
 #include "msm_media_info.h"
 
+#include "system/camerad/cameras/camera_qcom2.h"
 #ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
-#include "system/camerad/cameras/camera_qcom2.h"
-#else
-#include "system/camerad/test/camera_test.h"
 #endif
 
 ExitHandler do_exit;

system/camerad/cameras/camera_qcom2.cc

@@ -1304,4 +1304,3 @@ void cameras_run(MultiCameraState *s) {
 
   cameras_close(s);
 }
-

system/camerad/main.cc

@@ -7,14 +7,17 @@
 #include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
-  if (!Hardware::PC()) {
-    int ret;
-    ret = util::set_realtime_priority(53);
-    assert(ret == 0);
-    ret = util::set_core_affinity({6});
-    assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
+  if (Hardware::PC()) {
+    printf("camerad is not meant to run on PC\n");
+    return 0;
   }
 
+  int ret;
+  ret = util::set_realtime_priority(53);
+  assert(ret == 0);
+  ret = util::set_core_affinity({6});
+  assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
+
   camerad_thread();
   return 0;
 }

system/camerad/test/camera_test.h

@@ -1,27 +0,0 @@
-// TODO: cleanup AE tests
-// needed by camera_common.cc
-void camera_autoexposure(CameraState *s, float grey_frac) {}
-void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {}
-void cameras_open(MultiCameraState *s) {}
-void cameras_run(MultiCameraState *s) {}
-
-typedef struct CameraState {
-  int camera_num;
-  CameraInfo ci;
-
-  int fps;
-  float digital_gain = 0;
-
-  int camera_id;
-
-  CameraBuf buf;
-} CameraState;
-
-typedef struct MultiCameraState {
-  CameraState road_cam;
-  CameraState driver_cam;
-
-  PubMaster *pm = nullptr;
-} MultiCameraState;
-
-