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68 lines
1.8 KiB
68 lines
1.8 KiB
#include <poll.h>
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#include <sys/socket.h>
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#include <unistd.h>
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#include <cassert>
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#include <cstdio>
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#include <thread>
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#include "libyuv.h"
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#include "cereal/visionipc/visionipc_server.h"
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#include "selfdrive/common/clutil.h"
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#include "selfdrive/common/params.h"
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/common/util.h"
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#include "selfdrive/hardware/hw.h"
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#ifdef QCOM
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#include "selfdrive/camerad/cameras/camera_qcom.h"
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#elif QCOM2
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#include "selfdrive/camerad/cameras/camera_qcom2.h"
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#elif WEBCAM
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#include "selfdrive/camerad/cameras/camera_webcam.h"
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#else
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#include "selfdrive/camerad/cameras/camera_replay.h"
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#endif
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ExitHandler do_exit;
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void party(cl_device_id device_id, cl_context context) {
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MultiCameraState cameras = {};
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VisionIpcServer vipc_server("camerad", device_id, context);
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cameras_init(&vipc_server, &cameras, device_id, context);
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cameras_open(&cameras);
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vipc_server.start_listener();
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cameras_run(&cameras);
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}
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#ifdef QCOM
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#include "CL/cl_ext_qcom.h"
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#endif
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int main(int argc, char *argv[]) {
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if (!Hardware::PC()) {
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int ret;
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ret = set_realtime_priority(53);
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assert(ret == 0);
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ret = set_core_affinity({Hardware::EON() ? 2 : 6});
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assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
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}
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cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
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// TODO: do this for QCOM2 too
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#if defined(QCOM)
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const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
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cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
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#else
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cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
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#endif
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party(device_id, context);
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CL_CHECK(clReleaseContext(context));
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}
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