camerad: remove camera frame stream (#23045)
* camerad: remove camera frame stream * fix release filespull/22763/head
Adeeb Shihadeh
3 years ago
committed by
GitHub
parent
b2a018643f
commit
8160cf3c1b
6 changed files with 9 additions and 137 deletions
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#include "selfdrive/camerad/cameras/camera_frame_stream.h" |
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#include <unistd.h> |
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#include <cassert> |
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#include <capnp/dynamic.h> |
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#include "cereal/messaging/messaging.h" |
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#include "selfdrive/common/util.h" |
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#define FRAME_WIDTH 1164 |
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#define FRAME_HEIGHT 874 |
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extern ExitHandler do_exit; |
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namespace { |
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// TODO: make this more generic
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CameraInfo cameras_supported[CAMERA_ID_MAX] = { |
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[CAMERA_ID_IMX298] = { |
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.frame_width = FRAME_WIDTH, |
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.frame_height = FRAME_HEIGHT, |
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.frame_stride = FRAME_WIDTH*3, |
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.bayer = false, |
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.bayer_flip = false, |
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}, |
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[CAMERA_ID_OV8865] = { |
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.frame_width = 1632, |
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.frame_height = 1224, |
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.frame_stride = 2040, // seems right
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.bayer = false, |
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.bayer_flip = 3, |
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.hdr = false |
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}, |
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}; |
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void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) { |
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assert(camera_id < std::size(cameras_supported)); |
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s->ci = cameras_supported[camera_id]; |
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assert(s->ci.frame_width != 0); |
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s->camera_num = camera_id; |
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s->fps = fps; |
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s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type); |
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} |
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void run_frame_stream(CameraState &camera, const char* frame_pkt) { |
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SubMaster sm({frame_pkt}); |
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size_t buf_idx = 0; |
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while (!do_exit) { |
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sm.update(1000); |
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if(sm.updated(frame_pkt)) { |
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auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]); |
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auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>(); |
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camera.buf.camera_bufs_metadata[buf_idx] = { |
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.frame_id = frame.get("frameId").as<uint32_t>(), |
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.timestamp_eof = frame.get("timestampEof").as<uint64_t>(), |
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.timestamp_sof = frame.get("timestampSof").as<uint64_t>(), |
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}; |
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cl_command_queue q = camera.buf.camera_bufs[buf_idx].copy_q; |
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cl_mem yuv_cl = camera.buf.camera_bufs[buf_idx].buf_cl; |
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auto image = frame.get("image").as<capnp::Data>(); |
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clEnqueueWriteBuffer(q, yuv_cl, CL_TRUE, 0, image.size(), image.begin(), 0, NULL, NULL); |
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camera.buf.queue(buf_idx); |
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buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT; |
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} |
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} |
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} |
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} // namespace
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void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { |
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camera_init(v, &s->road_cam, CAMERA_ID_IMX298, 20, device_id, ctx, |
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VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK); |
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camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 10, device_id, ctx, |
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VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT); |
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} |
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void cameras_open(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 process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {} |
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void cameras_run(MultiCameraState *s) { |
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std::thread t = start_process_thread(s, &s->road_cam, process_road_camera); |
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set_thread_name("frame_streaming"); |
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run_frame_stream(s->road_cam, "roadCameraState"); |
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t.join(); |
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} |
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@ -1,30 +0,0 @@ |
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#pragma once |
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#define CL_USE_DEPRECATED_OPENCL_1_2_APIS |
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#ifdef __APPLE__ |
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#include <OpenCL/cl.h> |
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#else |
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#include <CL/cl.h> |
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#endif |
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#include "camera_common.h" |
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#define FRAME_BUF_COUNT 16 |
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typedef struct CameraState { |
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int camera_num; |
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CameraInfo ci; |
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int fps; |
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float digital_gain; |
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CameraBuf buf; |
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} CameraState; |
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typedef struct MultiCameraState { |
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CameraState 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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