camerad: remove camera_id (#30654)

* remove camera_id

* use variable

system/camerad/cameras/camera_common.cc

@@ -36,7 +36,7 @@ public:
              "-DIS_OX=%d -DCAM_NUM=%d%s",
              ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset,
-             s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
     const char *cl_file = "cameras/real_debayer.cl";
     cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
@@ -154,12 +154,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   const float ev = c->cur_ev[frame_data.frame_id % 3];
   const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f);
   framed.setExposureValPercent(perc);
-
-  if (c->camera_id == CAMERA_ID_AR0231) {
-    framed.setSensor(cereal::FrameData::ImageSensor::AR0231);
-  } else if (c->camera_id == CAMERA_ID_OX03C10) {
-    framed.setSensor(cereal::FrameData::ImageSensor::OX03C10);
-  }
+  framed.setSensor(c->ci->image_sensor);
 }
 
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {

system/camerad/cameras/camera_common.h

@@ -14,9 +14,6 @@
 #include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
-#define CAMERA_ID_AR0231 0
-#define CAMERA_ID_OX03C10 1
-
 const int YUV_BUFFER_COUNT = 20;
 
 enum CameraType {

system/camerad/cameras/camera_qcom2.cc

@@ -106,8 +106,6 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
 }
 
 int CameraState::sensors_init() {
-  create_sensor();
-
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
   auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -403,15 +401,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 // ******************* camera *******************
 
-void CameraState::create_sensor() {
-  if (camera_id == CAMERA_ID_AR0231) {
-    ci = std::make_unique<AR0231>();
-  } else if (camera_id == CAMERA_ID_OX03C10) {
-    ci = std::make_unique<OX03C10>();
-  } else {
-    assert(false);
-  }
-
+void CameraState::sensor_set_parameters() {
   target_grey_fraction = 0.3;
 
   dc_gain_enabled = false;
@@ -436,9 +426,8 @@ void CameraState::camera_map_bufs(MultiCameraState *s) {
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
+void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
   if (!enabled) return;
-  camera_id = camera_id_;
 
   LOGD("camera init %d", camera_num);
   request_id_last = 0;
@@ -462,22 +451,25 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   // init memorymanager for this camera
   mm.init(multi_cam_state->video0_fd);
 
-  // probe the sensor
   LOGD("-- Probing sensor %d", camera_num);
-  camera_id = CAMERA_ID_AR0231;
-  ret = sensors_init();
-  if (ret != 0) {
-    // TODO: use build flag instead?
-    LOGD("AR0231 init failed, trying OX03C10");
-    camera_id = CAMERA_ID_OX03C10;
-    ret = sensors_init();
-  }
-  LOGD("-- Probing sensor %d done with %d", camera_num, ret);
-  if (ret != 0) {
+
+  auto init_sensor_lambda = [this](SensorInfo *sensor) {
+    ci.reset(sensor);
+    int ret = sensors_init();
+    if (ret == 0) {
+      sensor_set_parameters();
+    }
+    return ret == 0;
+  };
+
+  // Try different sensors one by one until it success.
+  if (!init_sensor_lambda(new AR0231) &&
+      !init_sensor_lambda(new OX03C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", camera_num);
     enabled = false;
     return;
   }
+  LOGD("-- Probing sensor %d success", camera_num);
 
   // create session
   struct cam_req_mgr_session_info session_info = {};
@@ -626,9 +618,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER);
-  s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD);
-  s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD);
+  s->driver_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_DRIVER);
+  s->road_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_ROAD);
+  s->wide_road_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }

system/camerad/cameras/camera_qcom2.h

@@ -48,9 +48,9 @@ public:
   void sensors_start();
 
   void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
-  void create_sensor();
+  void sensor_set_parameters();
   void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
   void camera_close();
 
   int32_t session_handle;
@@ -68,7 +68,6 @@ public:
   int frame_id_last;
   int idx_offset;
   bool skipped;
-  int camera_id;
 
   CameraBuf buf;
   MemoryManager mm;

system/camerad/sensors/ar0231.cc

@@ -77,6 +77,7 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
 }  // namespace
 
 AR0231::AR0231() {
+  image_sensor = cereal::FrameData::ImageSensor::AR0231;
   data_word = true;
   frame_width = FRAME_WIDTH;
   frame_height = FRAME_HEIGHT;

system/camerad/sensors/ox03c10.cc

@@ -22,6 +22,7 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
 }  // namespace
 
 OX03C10::OX03C10() {
+  image_sensor = cereal::FrameData::ImageSensor::OX03C10;
   data_word = false;
   frame_width = FRAME_WIDTH;
   frame_height = FRAME_HEIGHT;

system/camerad/sensors/sensor.h

@@ -23,6 +23,7 @@ public:
   virtual int getSlaveAddress(int port) const { assert(0); }
   virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
 
+  cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
   uint32_t frame_offset = 0;