openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

system/camerad/cameras/camera_common.h

@@ -0,0 +1,87 @@
+#pragma once
+
+#include <fcntl.h>
+#include <memory>
+#include <thread>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "common/queue.h"
+
+const int YUV_BUFFER_COUNT = 20;
+
+enum CameraType {
+  RoadCam = 0,
+  DriverCam,
+  WideRoadCam
+};
+
+// for debugging
+const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
+const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
+const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
+const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
+const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
+const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
+
+typedef struct FrameMetadata {
+  uint32_t frame_id;
+  uint32_t request_id;
+
+  // Timestamps
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+
+  // Exposure
+  unsigned int integ_lines;
+  bool high_conversion_gain;
+  float gain;
+  float measured_grey_fraction;
+  float target_grey_fraction;
+
+  float processing_time;
+} FrameMetadata;
+
+struct MultiCameraState;
+class CameraState;
+class Debayer;
+
+class CameraBuf {
+private:
+  VisionIpcServer *vipc_server;
+  Debayer *debayer = nullptr;
+  VisionStreamType stream_type;
+  int cur_buf_idx;
+  SafeQueue<int> safe_queue;
+  int frame_buf_count;
+
+public:
+  cl_command_queue q;
+  FrameMetadata cur_frame_data;
+  VisionBuf *cur_yuv_buf;
+  VisionBuf *cur_camera_buf;
+  std::unique_ptr<VisionBuf[]> camera_bufs;
+  std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
+  int rgb_width, rgb_height;
+
+  CameraBuf() = default;
+  ~CameraBuf();
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  bool acquire();
+  void queue(size_t buf_idx);
+};
+
+typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
+
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
+kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
+float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
+std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
+
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
+void cameras_open(MultiCameraState *s);
+void cameras_run(MultiCameraState *s);
+void cameras_close(MultiCameraState *s);
+void camerad_thread();
+
+int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);