openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

system/camerad/cameras/camera_util.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <functional>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <optional>
+#include <queue>
+
+#include <media/cam_req_mgr.h>
+
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
+int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
+int device_control(int fd, int op_code, int session_handle, int dev_handle);
+int do_cam_control(int fd, int op_code, void *handle, int size);
+void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
+                      int mmu_hdl = 0, int mmu_hdl2 = 0);
+void release(int video0_fd, uint32_t handle);
+
+class MemoryManager {
+  public:
+    void init(int _video0_fd) { video0_fd = _video0_fd; }
+    ~MemoryManager();
+
+    template <class T>
+    auto alloc(int len, uint32_t *handle) {
+      return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
+    }
+
+  private:
+    void *alloc_buf(int len, uint32_t *handle);
+    void free(void *ptr);
+
+    std::mutex lock;
+    std::map<void *, uint32_t> handle_lookup;
+    std::map<void *, int> size_lookup;
+    std::map<int, std::queue<void *> > cached_allocations;
+    int video0_fd;
+};