Merge branch 'commaai:master' into PA-testing

Edison-CBS · Aug 4, 2024 · 8a87240 · 8a87240
2 parents c70f927 + 8f9b165
commit 8a87240
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Showing 3 changed files with 12 additions and 11 deletions.
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
@@ -33,9 +33,11 @@ class ImgProc {
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
     CL_CHECK(clReleaseProgram(prg_imgproc));
 
+    const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
+    queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
   }
 
-  void runKernel(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
+  void runKernel(cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time));
@@ -45,17 +47,19 @@ class ImgProc {
     const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize};
 
     cl_event event;
-    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
+    CL_CHECK(clEnqueueNDRangeKernel(queue, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
     clWaitForEvents(1, &event);
     CL_CHECK(clReleaseEvent(event));
   }
 
   ~ImgProc() {
     CL_CHECK(clReleaseKernel(krnl_));
+    CL_CHECK(clReleaseCommandQueue(queue));
   }
 
 private:
   cl_kernel krnl_;
+  cl_command_queue queue;
 };
 
 void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
@@ -92,17 +96,13 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset);
-
-  const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
 }
 
 CameraBuf::~CameraBuf() {
   for (int i = 0; i < frame_buf_count; i++) {
     camera_bufs[i].free();
   }
   if (imgproc) delete imgproc;
-  if (q) CL_CHECK(clReleaseCommandQueue(q));
 }
 
 bool CameraBuf::acquire() {
@@ -118,7 +118,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  imgproc->runKernel(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
+  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {

diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
@@ -53,7 +53,6 @@ class CameraBuf {
   int frame_buf_count;
 
 public:
-  cl_command_queue q;
   FrameMetadata cur_frame_data;
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;

diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
@@ -19,7 +19,6 @@
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from pathlib import Path
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
@@ -62,9 +61,12 @@ def listdir_by_creation(d: str) -> list[str]:
     return []
 
 def clear_locks(root: str) -> None:
-  for lock_file in Path(root).rglob('*.lock'):
+  for logdir in os.listdir(root):
+    path = os.path.join(root, logdir)
     try:
-      lock_file.unlink()
+      for fname in os.listdir(path):
+        if fname.endswith(".lock"):
+          os.unlink(os.path.join(path, fname))
     except OSError:
       cloudlog.exception("clear_locks failed")