camerad: prep part 2 (#33584)

* no camerastate in sensors

* bring this over

* and encoder

system/camerad/cameras/camera_qcom2.cc

@@ -953,7 +953,7 @@ void CameraState::run() {
     }
 
     // Process camera registers and set camera exposure
-    sensor->processRegisters(this, framed);
+    sensor->processRegisters((uint8_t *)buf.cur_camera_buf->addr, framed);
     set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
     // Send the message

system/camerad/cameras/camera_util.h

@@ -18,22 +18,22 @@ void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, i
 void release(int video0_fd, uint32_t handle);
 
 class MemoryManager {
-  public:
-    void init(int _video0_fd) { video0_fd = _video0_fd; }
-    ~MemoryManager();
+public:
+  void init(int _video0_fd) { video0_fd = _video0_fd; }
+  ~MemoryManager();
 
-    template <class T>
-    auto alloc(int len, uint32_t *handle) {
-      return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
-    }
+  template <class T>
+  auto alloc(int len, uint32_t *handle) {
+    return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
+  }
 
-  private:
-    void *alloc_buf(int len, uint32_t *handle);
-    void free(void *ptr);
+private:
+  void *alloc_buf(int len, uint32_t *handle);
+  void free(void *ptr);
 
-    std::mutex lock;
-    std::map<void *, uint32_t> handle_lookup;
-    std::map<void *, int> size_lookup;
-    std::map<int, std::queue<void *> > cached_allocations;
-    int video0_fd;
+  std::mutex lock;
+  std::map<void *, uint32_t> handle_lookup;
+  std::map<void *, int> size_lookup;
+  std::map<int, std::queue<void *> > cached_allocations;
+  int video0_fd;
 };

system/camerad/sensors/ar0231.cc

@@ -2,7 +2,6 @@
 
 #include "common/swaglog.h"
 #include "system/camerad/cameras/camera_common.h"
-#include "system/camerad/cameras/camera_qcom2.h"
 #include "system/camerad/sensors/sensor.h"
 
 namespace {
@@ -17,7 +16,7 @@ const float sensor_analog_gains_AR0231[] = {
     5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
     7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
 
-std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
+std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) {
   // This function builds a lookup table from register address, to a pair of indices in the
   // buffer where to read this address. The buffer contains padding bytes,
   // as well as markers to indicate the type of the next byte.
@@ -33,7 +32,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
 
   std::map<uint16_t, std::pair<int, int>> registers;
   for (int register_row = 0; register_row < 2; register_row++) {
-    uint8_t *registers_raw = data + c->sensor->frame_stride * register_row;
+    uint8_t *registers_raw = data + s->frame_stride * register_row;
     assert(registers_raw[0] == 0x0a);  // Start of line
 
     int value_tag_count = 0;
@@ -58,7 +57,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
           cur_addr += 2;
           first_val_idx = val_idx;
         } else {
-          registers[cur_addr] = std::make_pair(first_val_idx + c->sensor->frame_stride * register_row, val_idx + c->sensor->frame_stride * register_row);
+          registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row);
         }
 
         value_tag_count++;
@@ -119,9 +118,9 @@ AR0231::AR0231() {
   target_grey_factor = 1.0;
 }
 
-void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {
+void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
   const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
-  uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->sensor->registers_offset;
+  uint8_t *data = cur_buf + registers_offset;
 
   if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
     LOGE("unexpected register data found");
@@ -129,7 +128,7 @@ void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed
   }
 
   if (ar0231_register_lut.empty()) {
-    ar0231_register_lut = ar0231_build_register_lut(c, data);
+    ar0231_register_lut = ar0231_build_register_lut(this, data);
   }
   std::map<uint16_t, uint16_t> registers;
   for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {

system/camerad/sensors/sensor.h

@@ -19,7 +19,7 @@ public:
   virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
   virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
   virtual int getSlaveAddress(int port) const { assert(0); }
-  virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
+  virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {}
 
   cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
   float pixel_size_mm;
@@ -68,7 +68,7 @@ public:
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
-  void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override;
+  void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override;
 
 private:
   mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;

system/loggerd/encoder/encoder.h

@@ -1,5 +1,9 @@
 #pragma once
 
+// has to be in this order
+#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/videodev2.h>
+
 #include <cassert>
 #include <cstdint>
 #include <memory>
@@ -12,8 +16,6 @@
 #include "system/camerad/cameras/camera_common.h"
 #include "system/loggerd/loggerd.h"
 
-#define V4L2_BUF_FLAG_KEYFRAME 8
-
 class VideoEncoder {
 public:
   VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);