camerad: use open_v4l_by_name_and_index on c2 also (commaai#23794)

* use open_v4l_by_name_and_index on c2 also * remove open_v4l_by_name_and_index from qcom2
budney · Mar 27, 2022 · 9e5bbd4 · 9e5bbd4
1 parent 0f06ca3
commit 9e5bbd4
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Showing 4 changed files with 26 additions and 33 deletions.
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
@@ -460,3 +460,16 @@ void camerad_thread() {
 
   CL_CHECK(clReleaseContext(context));
 }
+
+int open_v4l_by_name_and_index(const char name[], int index, int flags) {
+  for (int v4l_index = 0; /**/; ++v4l_index) {
+    std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
+    if (v4l_name.empty()) return -1;
+    if (v4l_name.find(name) == 0) {
+      if (index == 0) {
+        return HANDLE_EINTR(open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags));
+      }
+      index--;
+    }
+  }
+}
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
@@ -135,3 +135,5 @@ void cameras_run(MultiCameraState *s);
 void cameras_close(MultiCameraState *s);
 void camera_autoexposure(CameraState *s, float grey_frac);
 void camerad_thread();
+
+int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -399,7 +399,7 @@ static void sensors_init(MultiCameraState *s) {
     .output_format = MSM_SENSOR_BAYER,
   }};
 
-  unique_fd sensorinit_fd = HANDLE_EINTR(open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK));
+  unique_fd sensorinit_fd = open_v4l_by_name_and_index("msm_sensor_init");
   assert(sensorinit_fd >= 0);
   for (auto &info : slave_infos) {
     info.power_setting_array.power_setting = &info.power_setting_array.power_setting_a[0];
@@ -417,31 +417,22 @@ static void camera_open(CameraState *s, bool is_road_cam) {
   struct msm_actuator_cfg_data actuator_cfg_data = {};
 
   // open devices
-  const char *sensor_dev;
+  s->csid_fd = open_v4l_by_name_and_index("msm_csid", is_road_cam ? 0 : 2);
+  assert(s->csid_fd >= 0);
+  s->csiphy_fd = open_v4l_by_name_and_index("msm_csiphy", is_road_cam ? 0 : 2);
+  assert(s->csiphy_fd >= 0);
+  s->isp_fd = open_v4l_by_name_and_index("vfe", is_road_cam ? 0 : 1);
+  assert(s->isp_fd >= 0);
+
   if (is_road_cam) {
-    s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK));
-    assert(s->csid_fd >= 0);
-    s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev0", O_RDWR | O_NONBLOCK));
-    assert(s->csiphy_fd >= 0);
-    sensor_dev = "/dev/v4l-subdev17";
-    s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK));
-    assert(s->isp_fd >= 0);
-    s->actuator_fd = HANDLE_EINTR(open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK));
+    s->actuator_fd = open_v4l_by_name_and_index("msm_actuator");
     assert(s->actuator_fd >= 0);
-  } else {
-    s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK));
-    assert(s->csid_fd >= 0);
-    s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev2", O_RDWR | O_NONBLOCK));
-    assert(s->csiphy_fd >= 0);
-    sensor_dev = "/dev/v4l-subdev18";
-    s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK));
-    assert(s->isp_fd >= 0);
   }
 
   // wait for sensor device
   // on first startup, these devices aren't present yet
   for (int i = 0; i < 10; i++) {
-    s->sensor_fd = HANDLE_EINTR(open(sensor_dev, O_RDWR | O_NONBLOCK));
+    s->sensor_fd = open_v4l_by_name_and_index(is_road_cam ? "imx298" : "ov8865_sunny");
     if (s->sensor_fd >= 0) break;
     LOGW("waiting for sensors...");
     util::sleep_for(1000); // sleep one second
@@ -908,7 +899,7 @@ void cameras_open(MultiCameraState *s) {
   s->v4l_fd = HANDLE_EINTR(open("/dev/video0", O_RDWR | O_NONBLOCK));
   assert(s->v4l_fd >= 0);
 
-  s->ispif_fd = HANDLE_EINTR(open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK));
+  s->ispif_fd = open_v4l_by_name_and_index("msm_ispif");
   assert(s->ispif_fd >= 0);
 
   // ISPIF: stop

diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -578,19 +578,6 @@ static void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v,
   s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
 }
 
-int open_v4l_by_name_and_index(const char name[], int index, int flags = O_RDWR | O_NONBLOCK) {
-  for (int v4l_index = 0; /**/; ++v4l_index) {
-    std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index));
-    if (v4l_name.empty()) return -1;
-    if (v4l_name.find(name) == 0) {
-      if (index == 0) {
-        return open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags);
-      }
-      index--;
-    }
-  }
-}
-
 static void camera_open(CameraState *s) {
   s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num);
   assert(s->sensor_fd >= 0);