143 lines
3.9 KiB
C++
143 lines
3.9 KiB
C++
#pragma once
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#include <cstdint>
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#include <cstdlib>
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#include <memory>
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#include <thread>
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#include "cereal/messaging/messaging.h"
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#include "cereal/visionipc/visionbuf.h"
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#include "cereal/visionipc/visionipc.h"
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#include "cereal/visionipc/visionipc_server.h"
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#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
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#include "selfdrive/common/mat.h"
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#include "selfdrive/common/queue.h"
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/common/visionimg.h"
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#include "selfdrive/hardware/hw.h"
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#define CAMERA_ID_IMX298 0
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#define CAMERA_ID_IMX179 1
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#define CAMERA_ID_S5K3P8SP 2
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#define CAMERA_ID_OV8865 3
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#define CAMERA_ID_IMX298_FLIPPED 4
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#define CAMERA_ID_OV10640 5
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#define CAMERA_ID_LGC920 6
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#define CAMERA_ID_LGC615 7
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#define CAMERA_ID_AR0231 8
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#define CAMERA_ID_IMX390 9
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#define CAMERA_ID_MAX 10
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const int UI_BUF_COUNT = 4;
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const int YUV_BUFFER_COUNT = Hardware::EON() ? 100 : 40;
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enum CameraType {
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RoadCam = 0,
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DriverCam,
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WideRoadCam
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};
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// TODO: remove these once all the internal tools are moved to vipc
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const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
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const bool env_send_road = getenv("SEND_ROAD") != NULL;
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const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
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// for debugging
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// note: ONLY_ROAD doesn't work, likely due to a mixup with wideRoad cam in the kernel
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const bool env_only_driver = getenv("ONLY_DRIVER") != NULL;
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const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
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typedef void (*release_cb)(void *cookie, int buf_idx);
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typedef struct CameraInfo {
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int frame_width, frame_height;
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int frame_stride;
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bool bayer;
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int bayer_flip;
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bool hdr;
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} CameraInfo;
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typedef struct FrameMetadata {
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uint32_t frame_id;
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unsigned int frame_length;
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// Timestamps
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uint64_t timestamp_sof; // only set on tici
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uint64_t timestamp_eof;
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// Exposure
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unsigned int integ_lines;
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bool high_conversion_gain;
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float gain;
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float measured_grey_fraction;
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float target_grey_fraction;
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// Focus
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unsigned int lens_pos;
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float lens_err;
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float lens_true_pos;
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float processing_time;
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} FrameMetadata;
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typedef struct CameraExpInfo {
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int op_id;
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float grey_frac;
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} CameraExpInfo;
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struct MultiCameraState;
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struct CameraState;
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class Debayer;
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class CameraBuf {
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private:
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VisionIpcServer *vipc_server;
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CameraState *camera_state;
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Debayer *debayer = nullptr;
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std::unique_ptr<Rgb2Yuv> rgb2yuv;
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VisionStreamType rgb_type, yuv_type;
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int cur_buf_idx;
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SafeQueue<int> safe_queue;
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int frame_buf_count;
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release_cb release_callback;
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public:
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cl_command_queue q;
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FrameMetadata cur_frame_data;
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VisionBuf *cur_rgb_buf;
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VisionBuf *cur_yuv_buf;
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std::unique_ptr<VisionBuf[]> camera_bufs;
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std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
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int rgb_width, rgb_height, rgb_stride;
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mat3 yuv_transform;
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CameraBuf() = default;
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~CameraBuf();
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void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr);
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bool acquire();
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void release();
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void queue(size_t buf_idx);
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};
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typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
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void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
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kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
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float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
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std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
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void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt);
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void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
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void cameras_open(MultiCameraState *s);
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void cameras_run(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 camerad_thread();
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int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
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