openpilot_comma/selfdrive/camerad/cameras/camera_common.h

#pragma once

#include <stdlib.h>
#include <stdbool.h>
#include <stdint.h>
#include <memory>
#include <thread>
#include "common/buffering.h"
#include "common/mat.h"
#include "common/swaglog.h"
#include "common/visionbuf.h"
#include "common/visionimg.h"
#include "imgproc/utils.h"
#include "messaging.hpp"
#include "transforms/rgb_to_yuv.h"

#include "common/visionipc.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
#define YUV_COUNT 40
#define LOG_CAMERA_ID_FCAMERA 0
#define LOG_CAMERA_ID_DCAMERA 1
#define LOG_CAMERA_ID_ECAMERA 2
#define LOG_CAMERA_ID_QCAMERA 3
#define LOG_CAMERA_ID_MAX 4

const bool env_send_front = getenv("SEND_FRONT") != NULL;
const bool env_send_rear = getenv("SEND_REAR") != NULL;
const bool env_send_wide = getenv("SEND_WIDE") != NULL;

typedef struct CameraInfo {
  const char* name;
  int frame_width, frame_height;
  int frame_stride;
  bool bayer;
  int bayer_flip;
  bool hdr;
} CameraInfo;

typedef struct LogCameraInfo {
  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;
} LogCameraInfo;

typedef struct FrameMetadata {
  uint32_t frame_id;
  uint64_t timestamp_sof; // only set on tici
  uint64_t timestamp_eof;
  unsigned int frame_length;
  unsigned int integ_lines;
  unsigned int global_gain;
  unsigned int lens_pos;
  float lens_sag;
  float lens_err;
  float lens_true_pos;
  float gain_frac;
} FrameMetadata;

typedef struct CameraExpInfo {
  int op_id;
  float grey_frac;
} CameraExpInfo;

extern CameraInfo cameras_supported[CAMERA_ID_MAX];

typedef struct {
  uint8_t *y, *u, *v;
} YUVBuf;

struct MultiCameraState;
struct CameraState;
typedef void (*release_cb)(void *cookie, int buf_idx);

class CameraBuf {
public:

  CameraState *camera_state;
  cl_kernel krnl_debayer;
  cl_command_queue q;

  Pool yuv_pool;
  VisionBuf yuv_ion[YUV_COUNT];
  YUVBuf yuv_bufs[YUV_COUNT];
  FrameMetadata yuv_metas[YUV_COUNT];
  size_t yuv_buf_size;
  int yuv_width, yuv_height;
  RGBToYUVState rgb_to_yuv_state;

  int rgb_width, rgb_height, rgb_stride;
  VisionBuf rgb_bufs[UI_BUF_COUNT];

  mat3 yuv_transform;

  int cur_yuv_idx, cur_rgb_idx;
  FrameMetadata cur_frame_data;
  VisionBuf *cur_rgb_buf;


  std::unique_ptr<VisionBuf[]> camera_bufs;
  std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
  TBuffer camera_tb, ui_tb;
  TBuffer *yuv_tb; // only for visionserver

  CameraBuf() = default;
  ~CameraBuf();
  void init(cl_device_id device_id, cl_context context, CameraState *s, int frame_cnt,
            const char *name = "frame", release_cb relase_callback = nullptr);
  bool acquire();
  void release();
  void stop();
  int frame_buf_count;
  int frame_size;
};

typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);

void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt);
void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride);
void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, 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, const char *tname,
                                    CameraState *cs, int priority, process_thread_cb callback);
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);