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88 lines
2.5 KiB
88 lines
2.5 KiB
#pragma once
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#include <fcntl.h>
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#include <memory>
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#include <thread>
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#include "cereal/messaging/messaging.h"
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#include "cereal/visionipc/visionipc_server.h"
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#include "common/queue.h"
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#include "common/util.h"
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const int YUV_BUFFER_COUNT = 20;
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enum CameraType {
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RoadCam = 0,
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DriverCam,
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WideRoadCam
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};
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// for debugging
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const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
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const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
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const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
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const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
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const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
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const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
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typedef struct FrameMetadata {
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uint32_t frame_id;
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uint32_t request_id;
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// Timestamps
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uint64_t timestamp_sof;
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uint64_t timestamp_eof;
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// Exposure
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unsigned int integ_lines;
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bool high_conversion_gain;
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float gain;
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float measured_grey_fraction;
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float target_grey_fraction;
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float processing_time;
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} FrameMetadata;
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struct MultiCameraState;
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class CameraState;
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class ImgProc;
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class CameraBuf {
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private:
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VisionIpcServer *vipc_server;
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ImgProc *imgproc = nullptr;
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VisionStreamType stream_type;
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int cur_buf_idx;
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SafeQueue<int> safe_queue;
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int frame_buf_count;
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public:
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cl_command_queue q;
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FrameMetadata cur_frame_data;
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VisionBuf *cur_yuv_buf;
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VisionBuf *cur_camera_buf;
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std::unique_ptr<VisionBuf[]> camera_bufs;
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std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
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int rgb_width, rgb_height;
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CameraBuf() = default;
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~CameraBuf();
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void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
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bool acquire();
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void queue(size_t buf_idx);
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};
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typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
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void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
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kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
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float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
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std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
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void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
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void cameras_open(MultiCameraState *s);
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void cameras_run(MultiCameraState *s);
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void cameras_close(MultiCameraState *s);
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void camerad_thread();
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int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);
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