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111 lines
2.6 KiB
111 lines
2.6 KiB
#pragma once
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#include <cstdint>
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#include <map>
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#include <utility>
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#include <media/cam_req_mgr.h>
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#include "selfdrive/camerad/cameras/camera_common.h"
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#include "common/util.h"
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#define FRAME_BUF_COUNT 4
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class MemoryManager {
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public:
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void init(int _video0_fd) { video0_fd = _video0_fd; }
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void *alloc(int len, uint32_t *handle);
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void free(void *ptr);
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~MemoryManager();
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private:
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std::mutex lock;
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std::map<void *, uint32_t> handle_lookup;
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std::map<void *, int> size_lookup;
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std::map<int, std::queue<void *> > cached_allocations;
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int video0_fd;
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};
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class CameraState {
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public:
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MultiCameraState *multi_cam_state;
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CameraInfo ci;
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bool enabled;
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std::mutex exp_lock;
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int exposure_time;
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bool dc_gain_enabled;
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float analog_gain_frac;
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float cur_ev[3];
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float min_ev, max_ev;
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float measured_grey_fraction;
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float target_grey_fraction;
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int gain_idx;
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unique_fd sensor_fd;
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unique_fd csiphy_fd;
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int camera_num;
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void handle_camera_event(void *evdat);
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void set_camera_exposure(float grey_frac);
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void sensors_start();
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void camera_open();
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void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled);
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void camera_close();
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std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
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int32_t session_handle;
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int32_t sensor_dev_handle;
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int32_t isp_dev_handle;
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int32_t csiphy_dev_handle;
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int32_t link_handle;
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int buf0_handle;
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int buf_handle[FRAME_BUF_COUNT];
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int sync_objs[FRAME_BUF_COUNT];
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int request_ids[FRAME_BUF_COUNT];
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int request_id_last;
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int frame_id_last;
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int idx_offset;
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bool skipped;
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int camera_id;
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CameraBuf buf;
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MemoryManager mm;
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private:
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void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
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void enqueue_req_multi(int start, int n, bool dp);
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void enqueue_buffer(int i, bool dp);
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int clear_req_queue();
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int sensors_init();
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void sensors_poke(int request_id);
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void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
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// Register parsing
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std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
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std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
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};
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typedef struct MultiCameraState {
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unique_fd video0_fd;
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unique_fd cam_sync_fd;
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unique_fd isp_fd;
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int device_iommu;
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int cdm_iommu;
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CameraState road_cam;
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CameraState wide_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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