#pragma once #include #include #include "system/camerad/cameras/camera_common.h" #include "system/camerad/cameras/camera_util.h" #include "system/camerad/sensors/sensor.h" #include "common/params.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 #define ROAD_FL_MM 8.0f #define WIDE_FL_MM 1.71f #define DRIVER_FL_MM 1.71f class CameraState { public: MultiCameraState *multi_cam_state; std::unique_ptr ci; bool enabled; std::mutex exp_lock; int exposure_time; bool dc_gain_enabled; int dc_gain_weight; int gain_idx; float analog_gain_frac; float cur_ev[3]; float best_ev_score; int new_exp_g; int new_exp_t; Rect ae_xywh; float measured_grey_fraction; float target_grey_fraction; unique_fd sensor_fd; unique_fd csiphy_fd; int camera_num; float fl_pix; void handle_camera_event(void *evdat); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void sensors_start(); void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); void set_exposure_rect(); void sensor_set_parameters(); void camera_map_bufs(MultiCameraState *s); void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len); void camera_close(); int32_t session_handle; int32_t sensor_dev_handle; int32_t isp_dev_handle; int32_t csiphy_dev_handle; int32_t link_handle; int buf0_handle; int buf_handle[FRAME_BUF_COUNT]; int sync_objs[FRAME_BUF_COUNT]; int request_ids[FRAME_BUF_COUNT]; int request_id_last; int frame_id_last; int idx_offset; bool skipped; CameraBuf buf; MemoryManager mm; void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset); void enqueue_req_multi(int start, int n, bool dp); void enqueue_buffer(int i, bool dp); int clear_req_queue(); int sensors_init(); void sensors_poke(int request_id); void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); private: // for debugging Params params; }; typedef struct MultiCameraState { unique_fd video0_fd; unique_fd cam_sync_fd; unique_fd isp_fd; int device_iommu; int cdm_iommu; CameraState road_cam; CameraState wide_road_cam; CameraState driver_cam; PubMaster *pm; } MultiCameraState;