C2: remove some dead code (commaai#24256)

* remove some dead code * still needed Co-authored-by: Comma Device <device@comma.ai>
martinl · Apr 19, 2022 · 1795a2a · 1795a2a
1 parent 40cf4a7
commit 1795a2a
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Showing 3 changed files with 8 additions and 176 deletions.
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
@@ -43,7 +43,7 @@ class Debayer {
              ci->frame_width, ci->frame_height, ci->frame_stride,
              b->rgb_width, b->rgb_height, b->rgb_stride,
              ci->bayer_flip, ci->hdr, s->camera_num);
-    const char *cl_file = Hardware::TICI() ? "cameras/real_debayer.cl" : "cameras/debayer.cl";
+    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));
     CL_CHECK(clReleaseProgram(prg_debayer));
@@ -53,30 +53,13 @@ class Debayer {
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
 
-    if (Hardware::TICI()) {
-      const int debayer_local_worksize = 16;
-      constexpr int localMemSize = (debayer_local_worksize + 2 * (3 / 2)) * (debayer_local_worksize + 2 * (3 / 2)) * sizeof(short int);
-      const size_t globalWorkSize[] = {size_t(width), size_t(height)};
-      const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
-      CL_CHECK(clSetKernelArg(krnl_, 2, localMemSize, 0));
-      CL_CHECK(clSetKernelArg(krnl_, 3, sizeof(float), &black_level));
-      CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
-    } else {
-      if (hdr_) {
-        // HDR requires a 1-D kernel due to the DPCM compression
-        const size_t debayer_local_worksize = 128;
-        const size_t debayer_work_size = height;  // doesn't divide evenly, is this okay?
-        CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(float), &gain));
-        CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 1, NULL, &debayer_work_size, &debayer_local_worksize, 0, 0, debayer_event));
-      } else {
-        const int debayer_local_worksize = 32;
-        assert(width % 2 == 0);
-        const size_t globalWorkSize[] = {size_t(height), size_t(width / 2)};
-        const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
-        CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(float), &gain));
-        CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
-      }
-    }
+    const int debayer_local_worksize = 16;
+    constexpr int localMemSize = (debayer_local_worksize + 2 * (3 / 2)) * (debayer_local_worksize + 2 * (3 / 2)) * sizeof(short int);
+    const size_t globalWorkSize[] = {size_t(width), size_t(height)};
+    const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
+    CL_CHECK(clSetKernelArg(krnl_, 2, localMemSize, 0));
+    CL_CHECK(clSetKernelArg(krnl_, 3, sizeof(float), &black_level));
+    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, debayer_event));
   }
 
   ~Debayer() {
@@ -173,7 +156,6 @@ bool CameraBuf::acquire() {
 #else
     if (camera_state->camera_id == CAMERA_ID_IMX390) black_level = 64.0;
 #endif
-
     debayer->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl, rgb_width, rgb_height, gain, black_level, &event);
   } else {
     assert(rgb_stride == camera_state->ci.frame_stride);

diff --git a/selfdrive/camerad/cameras/debayer.cl b/selfdrive/camerad/cameras/debayer.cl
diff --git a/selfdrive/loggerd/omx_encoder.cc b/selfdrive/loggerd/omx_encoder.cc
@@ -232,13 +232,8 @@ OmxEncoder::OmxEncoder(const char* filename, CameraType type, int in_width, int
 
   if (h265) {
     // setup HEVC
-  #ifndef QCOM2
-    OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0};
-    OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
-  #else
     OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0};
     OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
-  #endif
     hevc_type.nSize = sizeof(hevc_type);
     hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
     OMX_CHECK(OMX_GetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
@@ -566,11 +561,6 @@ void OmxEncoder::encoder_open(const char* path) {
     if (this->write) {
       this->of = util::safe_fopen(this->vid_path, "wb");
       assert(this->of);
-#ifndef QCOM2
-      if (this->codec_config_len > 0) {
-        util::safe_fwrite(this->codec_config, 1, this->codec_config_len, this->of);
-      }
-#endif
     }
   }