DualCameraState -> MultiCameraState

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -51,7 +51,7 @@ void camera_init(CameraState *s, int camera_id, unsigned int fps) {
   tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", camera_release_buffer, s);
 }
 
-void run_frame_stream(DualCameraState *s) {
+void run_frame_stream(MultiCameraState *s) {
   int err;
   Context * context = Context::create();
   SubSocket * recorder_sock = SubSocket::create(context, "frame");
@@ -121,7 +121,7 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
   },
 };
 
-void cameras_init(DualCameraState *s) {
+void cameras_init(MultiCameraState *s) {
   memset(s, 0, sizeof(*s));
 
   camera_init(&s->rear, CAMERA_ID_IMX298, 20);
@@ -141,7 +141,7 @@ void cameras_init(DualCameraState *s) {
 
 void camera_autoexposure(CameraState *s, float grey_frac) {}
 
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear,
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear,
                   VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats,
                   VisionBuf *camera_bufs_front) {
   assert(camera_bufs_rear);
@@ -155,11 +155,11 @@ void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear,
   camera_open(&s->rear, camera_bufs_rear, true);
 }
 
-void cameras_close(DualCameraState *s) {
+void cameras_close(MultiCameraState *s) {
   camera_close(&s->rear);
 }
 
-void cameras_run(DualCameraState *s) {
+void cameras_run(MultiCameraState *s) {
   set_thread_name("frame_streaming");
   run_frame_stream(s);
   cameras_close(s);

selfdrive/camerad/cameras/camera_frame_stream.h

@@ -40,17 +40,17 @@ typedef struct CameraState {
 } CameraState;
 
 
-typedef struct DualCameraState {
+typedef struct MultiCameraState {
   int ispif_fd;
 
   CameraState rear;
   CameraState front;
-} DualCameraState;
+} MultiCameraState;
 
-void cameras_init(DualCameraState *s);
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
-void cameras_run(DualCameraState *s);
-void cameras_close(DualCameraState *s);
+void cameras_init(MultiCameraState *s);
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
+void cameras_run(MultiCameraState *s);
+void cameras_close(MultiCameraState *s);
 void camera_autoexposure(CameraState *s, float grey_frac);
 #ifdef __cplusplus
 }  // extern "C"

selfdrive/camerad/cameras/camera_qcom.cc

@@ -268,7 +268,7 @@ static int imx179_s5k3p8sp_apply_exposure(CameraState *s, int gain, int integ_li
   return err;
 }
 
-void cameras_init(DualCameraState *s) {
+void cameras_init(MultiCameraState *s) {
   memset(s, 0, sizeof(*s));
 
   char project_name[1024] = {0};
@@ -527,7 +527,7 @@ static void imx298_ois_calibration(int ois_fd, uint8_t* eeprom) {
 
 
 
-static void sensors_init(DualCameraState *s) {
+static void sensors_init(MultiCameraState *s) {
   int err;
 
   int sensorinit_fd = -1;
@@ -1805,7 +1805,7 @@ static void front_start(CameraState *s) {
 
 
 
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front) {
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front) {
   int err;
 
   struct ispif_cfg_data ispif_cfg_data;
@@ -2029,7 +2029,7 @@ static void ops_term() {
 
 static void* ops_thread(void* arg) {
   int err;
-  DualCameraState *s = (DualCameraState*)arg;
+  MultiCameraState *s = (MultiCameraState*)arg;
 
   set_thread_name("camera_settings");
 
@@ -2101,7 +2101,7 @@ static void* ops_thread(void* arg) {
   return NULL;
 }
 
-void cameras_run(DualCameraState *s) {
+void cameras_run(MultiCameraState *s) {
   int err;
 
   pthread_t ops_thread_handle;
@@ -2213,7 +2213,7 @@ void cameras_run(DualCameraState *s) {
   cameras_close(s);
 }
 
-void cameras_close(DualCameraState *s) {
+void cameras_close(MultiCameraState *s) {
   camera_close(&s->rear);
   camera_close(&s->front);
 }

selfdrive/camerad/cameras/camera_qcom.h

@@ -106,19 +106,19 @@ typedef struct CameraState {
 } CameraState;
 
 
-typedef struct DualCameraState {
+typedef struct MultiCameraState {
   int device;
 
   int ispif_fd;
 
   CameraState rear;
   CameraState front;
-} DualCameraState;
+} MultiCameraState;
 
-void cameras_init(DualCameraState *s);
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
-void cameras_run(DualCameraState *s);
-void cameras_close(DualCameraState *s);
+void cameras_init(MultiCameraState *s);
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
+void cameras_run(MultiCameraState *s);
+void cameras_close(MultiCameraState *s);
 
 void camera_autoexposure(CameraState *s, float grey_frac);
 void actuator_move(CameraState *s, uint16_t target);

selfdrive/camerad/cameras/camera_qcom2.c

@@ -788,7 +788,7 @@ static void camera_open(CameraState *s, VisionBuf* b) {
 
 }
 
-void cameras_init(DualCameraState *s) {
+void cameras_init(MultiCameraState *s) {
   camera_init(&s->rear, CAMERA_ID_AR0231, 1, 20); // swap left/right
   printf("rear initted \n");
   camera_init(&s->wide, CAMERA_ID_AR0231, 0, 20);
@@ -802,7 +802,7 @@ void cameras_init(DualCameraState *s) {
 #endif
 }
 
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front, VisionBuf *camera_bufs_wide) {
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front, VisionBuf *camera_bufs_wide) {
   int ret;
 
   LOG("-- Opening devices");
@@ -900,7 +900,7 @@ static void camera_close(CameraState *s) {
   tbuffer_stop(&s->camera_tb);
 }
 
-static void cameras_close(DualCameraState *s) {
+static void cameras_close(MultiCameraState *s) {
   camera_close(&s->rear);
   camera_close(&s->wide);
   camera_close(&s->front);
@@ -919,7 +919,7 @@ struct video_event_data {
   uint64_t  tv_usec;
 };
 
-void cameras_run(DualCameraState *s) {
+void cameras_run(MultiCameraState *s) {
   // start devices
   LOG("-- Start devices");
 
@@ -1055,7 +1055,7 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
 }
 
 #ifdef NOSCREEN
-void sendrgb(DualCameraState *s, uint8_t* dat, int len, uint8_t cam_id) {
+void sendrgb(MultiCameraState *s, uint8_t* dat, int len, uint8_t cam_id) {
   int err, err2;
   int scale = 6;
   int old_width = FRAME_WIDTH;

selfdrive/camerad/cameras/camera_qcom2.h

@@ -72,7 +72,7 @@ typedef struct CameraState {
 
 } CameraState;
 
-typedef struct DualCameraState {
+typedef struct MultiCameraState {
   int device;
 
   int video0_fd;
@@ -87,14 +87,14 @@ typedef struct DualCameraState {
 #endif
 
   pthread_mutex_t isp_lock;
-} DualCameraState;
+} MultiCameraState;
 
-void cameras_init(DualCameraState *s);
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front, VisionBuf *camera_bufs_wide);
-void cameras_run(DualCameraState *s);
+void cameras_init(MultiCameraState *s);
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front, VisionBuf *camera_bufs_wide);
+void cameras_run(MultiCameraState *s);
 void camera_autoexposure(CameraState *s, float grey_frac);
 #ifdef NOSCREEN
-void sendrgb(DualCameraState *s, uint8_t* dat, int len, uint8_t cam_id);
+void sendrgb(MultiCameraState *s, uint8_t* dat, int len, uint8_t cam_id);
 #endif
 
 #ifdef __cplusplus

selfdrive/camerad/cameras/camera_webcam.cc

@@ -221,7 +221,7 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
   },
 };
 
-void cameras_init(DualCameraState *s) {
+void cameras_init(MultiCameraState *s) {
   memset(s, 0, sizeof(*s));
 
   camera_init(&s->rear, CAMERA_ID_LGC920, 20);
@@ -241,7 +241,7 @@ void cameras_init(DualCameraState *s) {
 
 void camera_autoexposure(CameraState *s, float grey_frac) {}
 
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear,
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear,
                   VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats,
                   VisionBuf *camera_bufs_front) {
   assert(camera_bufs_rear);
@@ -255,12 +255,12 @@ void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear,
   camera_open(&s->rear, camera_bufs_rear, true);
 }
 
-void cameras_close(DualCameraState *s) {
+void cameras_close(MultiCameraState *s) {
   camera_close(&s->rear);
   camera_close(&s->front);
 }
 
-void cameras_run(DualCameraState *s) {
+void cameras_run(MultiCameraState *s) {
   set_thread_name("webcam_thread");
 
   int err;

selfdrive/camerad/cameras/camera_webcam.h

@@ -39,17 +39,17 @@ typedef struct CameraState {
 } CameraState;
 
 
-typedef struct DualCameraState {
+typedef struct MultiCameraState {
   int ispif_fd;
 
   CameraState rear;
   CameraState front;
-} DualCameraState;
+} MultiCameraState;
 
-void cameras_init(DualCameraState *s);
-void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
-void cameras_run(DualCameraState *s);
-void cameras_close(DualCameraState *s);
+void cameras_init(MultiCameraState *s);
+void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front);
+void cameras_run(MultiCameraState *s);
+void cameras_close(MultiCameraState *s);
 void camera_autoexposure(CameraState *s, float grey_frac);
 #ifdef __cplusplus
 }  // extern "C"

selfdrive/camerad/main.cc

@@ -164,7 +164,7 @@ struct VisionState {
   VisionBuf wide_camera_bufs[FRAME_BUF_COUNT];
 
 
-  DualCameraState cameras;
+  MultiCameraState cameras;
 
   zsock_t *terminate_pub;
 

selfdrive/camerad/test/camera/test.c

@@ -34,7 +34,7 @@ void tbuffer_stop(TBuffer *tb) {
 }
 
 int main() {
-  DualCameraState s;
+  MultiCameraState s;
   cameras_init(&s);
   VisionBuf camera_bufs_rear[0x10] = {0};
   VisionBuf camera_bufs_focus[0x10] = {0};