camerad: remove camera frame stream (#23045)
* camerad: remove camera frame stream * fix release filespull/22763/head
Adeeb Shihadeh
GitHub
parent
b2a018643f
commit
8160cf3c1b
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@ -60,7 +60,6 @@ if arch == "aarch64" and TICI:
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arch = "larch64"
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USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
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USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
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lenv = {
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"PATH": os.environ['PATH'],
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@ -352,7 +351,7 @@ if GetOption("clazy"):
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qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
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qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
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Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
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Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
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SConscript(['selfdrive/common/SConscript'])
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Import('_common', '_gpucommon', '_gpu_libs')
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@ -368,8 +368,6 @@ selfdrive/camerad/snapshot/*
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selfdrive/camerad/include/*
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selfdrive/camerad/cameras/camera_common.h
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selfdrive/camerad/cameras/camera_common.cc
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selfdrive/camerad/cameras/camera_frame_stream.cc
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selfdrive/camerad/cameras/camera_frame_stream.h
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selfdrive/camerad/cameras/camera_qcom.cc
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selfdrive/camerad/cameras/camera_qcom.h
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selfdrive/camerad/cameras/camera_replay.cc
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@ -1,4 +1,4 @@
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Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM', 'USE_FRAME_STREAM')
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Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM')
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libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
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@ -18,15 +18,12 @@ else:
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env.Append(CFLAGS = '-DWEBCAM')
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env.Append(CPPPATH = ['/usr/include/opencv4', '/usr/local/include/opencv4'])
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else:
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if USE_FRAME_STREAM:
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cameras = ['cameras/camera_frame_stream.cc']
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else:
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libs += ['avutil', 'avcodec', 'avformat', 'bz2', 'ssl', 'curl', 'crypto']
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# TODO: import replay_lib from root SConstruct
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cameras = ['cameras/camera_replay.cc',
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env.Object('camera-util', '#/selfdrive/ui/replay/util.cc'),
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env.Object('camera-framereader', '#/selfdrive/ui/replay/framereader.cc'),
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env.Object('camera-filereader', '#/selfdrive/ui/replay/filereader.cc')]
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libs += ['avutil', 'avcodec', 'avformat', 'bz2', 'ssl', 'curl', 'crypto']
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# TODO: import replay_lib from root SConstruct
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cameras = ['cameras/camera_replay.cc',
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env.Object('camera-util', '#/selfdrive/ui/replay/util.cc'),
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env.Object('camera-framereader', '#/selfdrive/ui/replay/framereader.cc'),
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env.Object('camera-filereader', '#/selfdrive/ui/replay/filereader.cc')]
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if arch == "Darwin":
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del libs[libs.index('OpenCL')]
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@ -1,92 +0,0 @@
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#include "selfdrive/camerad/cameras/camera_frame_stream.h"
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#include <unistd.h>
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#include <cassert>
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#include <capnp/dynamic.h>
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/common/util.h"
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#define FRAME_WIDTH 1164
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#define FRAME_HEIGHT 874
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extern ExitHandler do_exit;
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namespace {
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// TODO: make this more generic
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CameraInfo cameras_supported[CAMERA_ID_MAX] = {
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[CAMERA_ID_IMX298] = {
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.frame_width = FRAME_WIDTH,
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.frame_height = FRAME_HEIGHT,
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.frame_stride = FRAME_WIDTH*3,
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.bayer = false,
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.bayer_flip = false,
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},
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[CAMERA_ID_OV8865] = {
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.frame_width = 1632,
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.frame_height = 1224,
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.frame_stride = 2040, // seems right
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.bayer = false,
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.bayer_flip = 3,
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.hdr = false
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},
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};
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void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
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assert(camera_id < std::size(cameras_supported));
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s->ci = cameras_supported[camera_id];
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assert(s->ci.frame_width != 0);
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s->camera_num = camera_id;
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s->fps = fps;
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s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
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}
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void run_frame_stream(CameraState &camera, const char* frame_pkt) {
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SubMaster sm({frame_pkt});
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size_t buf_idx = 0;
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while (!do_exit) {
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sm.update(1000);
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if(sm.updated(frame_pkt)) {
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auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
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auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
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camera.buf.camera_bufs_metadata[buf_idx] = {
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.frame_id = frame.get("frameId").as<uint32_t>(),
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.timestamp_eof = frame.get("timestampEof").as<uint64_t>(),
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.timestamp_sof = frame.get("timestampSof").as<uint64_t>(),
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};
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cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q;
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cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl;
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auto image = frame.get("image").as<capnp::Data>();
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clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL);
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camera.buf.queue(buf_idx);
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buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
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}
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}
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}
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} // namespace
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void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
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camera_init(v, &s->road_cam, CAMERA_ID_IMX298, 20, device_id, ctx,
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VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);
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camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 10, device_id, ctx,
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VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
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}
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void cameras_open(MultiCameraState *s) {}
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void cameras_close(MultiCameraState *s) {}
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void camera_autoexposure(CameraState *s, float grey_frac) {}
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void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {}
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void cameras_run(MultiCameraState *s) {
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std::thread t = start_process_thread(s, &s->road_cam, process_road_camera);
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set_thread_name("frame_streaming");
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run_frame_stream(s->road_cam, "roadCameraState");
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t.join();
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}
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@ -1,30 +0,0 @@
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#pragma once
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#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
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#ifdef __APPLE__
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#include <OpenCL/cl.h>
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#else
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#include <CL/cl.h>
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#endif
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#include "camera_common.h"
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#define FRAME_BUF_COUNT 16
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typedef struct CameraState {
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int camera_num;
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CameraInfo ci;
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int fps;
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float digital_gain;
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CameraBuf buf;
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} CameraState;
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typedef struct MultiCameraState {
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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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} MultiCameraState;
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@ -62,4 +62,4 @@ COPY ./selfdrive $HOME/openpilot/selfdrive
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COPY ./tools $HOME/openpilot/tools
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WORKDIR $HOME/openpilot
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RUN USE_FRAME_STREAM=1 scons -j$(nproc)
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RUN scons -j$(nproc)
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