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camerad: prep part 2 (#33584)

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* no camerastate in sensors

* bring this over

* and encoder
This commit is contained in:
Adeeb Shihadeh
2024-09-18 21:10:45 -07:00
committed by GitHub
parent 5378e63812
commit 718835a825
5 changed files with 28 additions and 27 deletions
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system/camerad/cameras/camera_qcom2.cc
+1 -1
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@@ -953,7 +953,7 @@ void CameraState::run() {
}
// Process camera registers and set camera exposure
sensor->processRegisters(this, framed);
sensor->processRegisters((uint8_t *)buf.cur_camera_buf->addr, framed);
set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
// Send the message
system/camerad/cameras/camera_util.h
+15 -15
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@@ -18,22 +18,22 @@ void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, i
void release(int video0_fd, uint32_t handle);
class MemoryManager {
public:
void init(int _video0_fd) { video0_fd = _video0_fd; }
~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); });
}
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);
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;
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;
};
system/camerad/sensors/ar0231.cc
+6 -7
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@@ -2,7 +2,6 @@
#include "common/swaglog.h"
#include "system/camerad/cameras/camera_common.h"
#include "system/camerad/cameras/camera_qcom2.h"
#include "system/camerad/sensors/sensor.h"
namespace {
@@ -17,7 +16,7 @@ const float sensor_analog_gains_AR0231[] = {
5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11
7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
@@ -33,7 +32,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + c->sensor->frame_stride * register_row;
uint8_t *registers_raw = data + s->frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
@@ -58,7 +57,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + c->sensor->frame_stride * register_row, val_idx + c->sensor->frame_stride * register_row);
registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row);
}
value_tag_count++;
@@ -119,9 +118,9 @@ AR0231::AR0231() {
target_grey_factor = 1.0;
}
void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {
void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {
const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->sensor->registers_offset;
uint8_t *data = cur_buf + registers_offset;
if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
LOGE("unexpected register data found");
@@ -129,7 +128,7 @@ void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed
}
if (ar0231_register_lut.empty()) {
ar0231_register_lut = ar0231_build_register_lut(c, data);
ar0231_register_lut = ar0231_build_register_lut(this, data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) {
system/camerad/sensors/sensor.h
+2 -2
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@@ -19,7 +19,7 @@ public:
virtual std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; }
virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; }
virtual int getSlaveAddress(int port) const { assert(0); }
virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {}
cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
float pixel_size_mm;
@@ -68,7 +68,7 @@ public:
std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
int getSlaveAddress(int port) const override;
void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override;
void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override;
private:
mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
system/loggerd/encoder/encoder.h
+4 -2
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@@ -1,5 +1,9 @@
#pragma once
// has to be in this order
#include "third_party/linux/include/v4l2-controls.h"
#include <linux/videodev2.h>
#include <cassert>
#include <cstdint>
#include <memory>
@@ -12,8 +16,6 @@
#include "system/camerad/cameras/camera_common.h"
#include "system/loggerd/loggerd.h"
#define V4L2_BUF_FLAG_KEYFRAME 8
class VideoEncoder {
public:
VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);