You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
146 lines
3.7 KiB
146 lines
3.7 KiB
#pragma once
|
|
|
|
#include <cstdint>
|
|
#include <cstdlib>
|
|
#include <memory>
|
|
#include <thread>
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "cereal/visionipc/visionbuf.h"
|
|
#include "cereal/visionipc/visionipc.h"
|
|
#include "cereal/visionipc/visionipc_server.h"
|
|
#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
|
|
#include "selfdrive/common/mat.h"
|
|
#include "selfdrive/common/queue.h"
|
|
#include "selfdrive/common/swaglog.h"
|
|
#include "selfdrive/common/visionimg.h"
|
|
|
|
#define CAMERA_ID_IMX298 0
|
|
#define CAMERA_ID_IMX179 1
|
|
#define CAMERA_ID_S5K3P8SP 2
|
|
#define CAMERA_ID_OV8865 3
|
|
#define CAMERA_ID_IMX298_FLIPPED 4
|
|
#define CAMERA_ID_OV10640 5
|
|
#define CAMERA_ID_LGC920 6
|
|
#define CAMERA_ID_LGC615 7
|
|
#define CAMERA_ID_AR0231 8
|
|
#define CAMERA_ID_MAX 9
|
|
|
|
#define UI_BUF_COUNT 4
|
|
|
|
enum CameraType {
|
|
RoadCam = 0,
|
|
DriverCam,
|
|
WideRoadCam
|
|
};
|
|
|
|
const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
|
|
const bool env_send_road = getenv("SEND_ROAD") != NULL;
|
|
const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
|
|
|
|
typedef void (*release_cb)(void *cookie, int buf_idx);
|
|
|
|
typedef struct CameraInfo {
|
|
int frame_width, frame_height;
|
|
int frame_stride;
|
|
bool bayer;
|
|
int bayer_flip;
|
|
bool hdr;
|
|
} CameraInfo;
|
|
|
|
typedef struct LogCameraInfo {
|
|
CameraType type;
|
|
const char* filename;
|
|
const char* frame_packet_name;
|
|
const char* encode_idx_name;
|
|
VisionStreamType stream_type;
|
|
int frame_width, frame_height;
|
|
int fps;
|
|
int bitrate;
|
|
bool is_h265;
|
|
bool downscale;
|
|
bool has_qcamera;
|
|
bool trigger_rotate;
|
|
bool enable;
|
|
bool record;
|
|
} LogCameraInfo;
|
|
|
|
typedef struct FrameMetadata {
|
|
uint32_t frame_id;
|
|
unsigned int frame_length;
|
|
|
|
// Timestamps
|
|
uint64_t timestamp_sof; // only set on tici
|
|
uint64_t timestamp_eof;
|
|
|
|
// Exposure
|
|
unsigned int integ_lines;
|
|
bool high_conversion_gain;
|
|
float gain;
|
|
float measured_grey_fraction;
|
|
float target_grey_fraction;
|
|
|
|
// Focus
|
|
unsigned int lens_pos;
|
|
float lens_sag;
|
|
float lens_err;
|
|
float lens_true_pos;
|
|
} FrameMetadata;
|
|
|
|
typedef struct CameraExpInfo {
|
|
int op_id;
|
|
float grey_frac;
|
|
} CameraExpInfo;
|
|
|
|
struct MultiCameraState;
|
|
struct CameraState;
|
|
|
|
class CameraBuf {
|
|
private:
|
|
VisionIpcServer *vipc_server;
|
|
CameraState *camera_state;
|
|
cl_kernel krnl_debayer;
|
|
|
|
std::unique_ptr<Rgb2Yuv> rgb2yuv;
|
|
|
|
VisionStreamType rgb_type, yuv_type;
|
|
|
|
int cur_buf_idx;
|
|
|
|
SafeQueue<int> safe_queue;
|
|
|
|
int frame_buf_count;
|
|
release_cb release_callback;
|
|
|
|
public:
|
|
cl_command_queue q;
|
|
FrameMetadata cur_frame_data;
|
|
VisionBuf *cur_rgb_buf;
|
|
VisionBuf *cur_yuv_buf;
|
|
std::unique_ptr<VisionBuf[]> camera_bufs;
|
|
std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
|
|
int rgb_width, rgb_height, rgb_stride;
|
|
|
|
mat3 yuv_transform;
|
|
|
|
CameraBuf() = default;
|
|
~CameraBuf();
|
|
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);
|
|
bool acquire();
|
|
void release();
|
|
void queue(size_t buf_idx);
|
|
};
|
|
|
|
typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
|
|
|
|
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
|
|
kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
|
|
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);
|
|
std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
|
|
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
|
|
|
|
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
|
|
void cameras_open(MultiCameraState *s);
|
|
void cameras_run(MultiCameraState *s);
|
|
void cameras_close(MultiCameraState *s);
|
|
void camera_autoexposure(CameraState *s, float grey_frac);
|
|
|