107 lines
2.7 KiB
C++
107 lines
2.7 KiB
C++
#pragma once
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#include <pthread.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <atomic>
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#include <memory>
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#include "cereal/messaging/messaging.h"
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#include "cereal/visionipc/visionbuf.h"
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#include "selfdrive/camerad/cameras/camera_common.h"
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#include "selfdrive/camerad/imgproc/utils.h"
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#include "selfdrive/camerad/include/msm_cam_sensor.h"
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#include "selfdrive/camerad/include/msmb_camera.h"
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#include "selfdrive/camerad/include/msmb_isp.h"
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#include "selfdrive/camerad/include/msmb_ispif.h"
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#include "selfdrive/common/mat.h"
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#include "selfdrive/common/util.h"
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#define FRAME_BUF_COUNT 4
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#define METADATA_BUF_COUNT 4
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#define NUM_FOCUS 8
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#define LP3_AF_DAC_DOWN 366
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#define LP3_AF_DAC_UP 634
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#define LP3_AF_DAC_M 440
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#define LP3_AF_DAC_3SIG 52
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#define FOCUS_RECOVER_PATIENCE 50 // 2.5 seconds of complete blur
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#define FOCUS_RECOVER_STEPS 240 // 6 seconds
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typedef struct CameraState CameraState;
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typedef int (*camera_apply_exposure_func)(CameraState *s, int gain, int integ_lines, uint32_t frame_length);
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typedef struct StreamState {
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struct msm_isp_buf_request buf_request;
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struct msm_vfe_axi_stream_request_cmd stream_req;
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struct msm_isp_qbuf_info qbuf_info[FRAME_BUF_COUNT];
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VisionBuf *bufs;
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} StreamState;
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typedef struct CameraState {
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int camera_num;
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int camera_id;
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int fps;
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CameraInfo ci;
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unique_fd csid_fd;
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unique_fd csiphy_fd;
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unique_fd sensor_fd;
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unique_fd isp_fd;
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struct msm_vfe_axi_stream_cfg_cmd stream_cfg;
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StreamState ss[3];
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CameraBuf buf;
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std::mutex frame_info_lock;
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FrameMetadata frame_metadata[METADATA_BUF_COUNT];
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int frame_metadata_idx;
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// exposure
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uint32_t pixel_clock, line_length_pclk;
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uint32_t frame_length;
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unsigned int max_gain;
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float cur_exposure_frac, cur_gain_frac;
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int cur_gain, cur_integ_lines;
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std::atomic<float> digital_gain;
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camera_apply_exposure_func apply_exposure;
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// rear camera only,used for focusing
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unique_fd actuator_fd;
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std::atomic<float> focus_err;
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std::atomic<float> last_sag_acc_z;
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std::atomic<float> lens_true_pos;
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std::atomic<int> self_recover; // af recovery counter, neg is patience, pos is active
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uint16_t cur_step_pos;
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uint16_t cur_lens_pos;
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int16_t focus[NUM_FOCUS];
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uint8_t confidence[NUM_FOCUS];
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} CameraState;
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typedef struct MultiCameraState {
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unique_fd ispif_fd;
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unique_fd msmcfg_fd;
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unique_fd v4l_fd;
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uint16_t lapres[(ROI_X_MAX-ROI_X_MIN+1)*(ROI_Y_MAX-ROI_Y_MIN+1)];
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VisionBuf focus_bufs[FRAME_BUF_COUNT];
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VisionBuf stats_bufs[FRAME_BUF_COUNT];
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CameraState road_cam;
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CameraState driver_cam;
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SubMaster *sm;
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PubMaster *pm;
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LapConv *lap_conv;
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} MultiCameraState;
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void actuator_move(CameraState *s, uint16_t target);
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int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size_t size, int data_type);
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