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