You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
67 lines
1.2 KiB
67 lines
1.2 KiB
#pragma once
|
|
|
|
#include <cstdint>
|
|
|
|
#include <media/cam_req_mgr.h>
|
|
|
|
#include "selfdrive/camerad/cameras/camera_common.h"
|
|
#include "selfdrive/common/util.h"
|
|
|
|
#define FRAME_BUF_COUNT 4
|
|
#define DEBAYER_LOCAL_WORKSIZE 16
|
|
typedef struct CameraState {
|
|
MultiCameraState *multi_cam_state;
|
|
CameraInfo ci;
|
|
|
|
std::mutex exp_lock;
|
|
|
|
int exposure_time;
|
|
bool dc_gain_enabled;
|
|
float analog_gain_frac;
|
|
|
|
float cur_ev[3];
|
|
float min_ev, max_ev;
|
|
|
|
float measured_grey_fraction;
|
|
float target_grey_fraction;
|
|
int gain_idx;
|
|
|
|
unique_fd sensor_fd;
|
|
unique_fd csiphy_fd;
|
|
|
|
int camera_num;
|
|
|
|
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;
|
|
} CameraState;
|
|
|
|
typedef struct MultiCameraState {
|
|
unique_fd video0_fd;
|
|
unique_fd video1_fd;
|
|
unique_fd isp_fd;
|
|
int device_iommu;
|
|
int cdm_iommu;
|
|
|
|
|
|
CameraState road_cam;
|
|
CameraState wide_road_cam;
|
|
CameraState driver_cam;
|
|
|
|
SubMaster *sm;
|
|
PubMaster *pm;
|
|
} MultiCameraState;
|
|
|