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camerad: camera_util is spectra (#33597)

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* camerad: camera_util is spectra

* lil more

* mv that

* fix build

* runs on device

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2024-09-19 11:22:46 -07:00
committed by GitHub
parent 943aa616b3
commit eea06b4c3e
6 changed files with 166 additions and 190 deletions
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system/camerad/SConscript
+2 -2
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@@ -2,8 +2,8 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic']
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc',
'cameras/spectra.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
if GetOption("extras") and arch == "x86_64":
system/camerad/cameras/camera_util.cc
-140
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@@ -1,140 +0,0 @@
#include "system/camerad/cameras/camera_util.h"
#include <string.h>
#include <cassert>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include "common/swaglog.h"
#include "common/util.h"
// For debugging:
// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
// ************** low level camera helpers ****************
int do_cam_control(int fd, int op_code, void *handle, int size) {
struct cam_control camcontrol = {0};
camcontrol.op_code = op_code;
camcontrol.handle = (uint64_t)handle;
if (size == 0) {
camcontrol.size = 8;
camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
} else {
camcontrol.size = size;
camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
}
int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
if (ret == -1) {
LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
}
return ret;
}
std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
struct cam_acquire_dev_cmd cmd = {
.session_handle = session_handle,
.handle_type = CAM_HANDLE_USER_POINTER,
.num_resources = (uint32_t)(data ? num_resources : 0),
.resource_hdl = (uint64_t)data,
};
int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
}
int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
struct cam_config_dev_cmd cmd = {
.session_handle = session_handle,
.dev_handle = dev_handle,
.packet_handle = packet_handle,
};
return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
}
int device_control(int fd, int op_code, int session_handle, int dev_handle) {
// start stop and release are all the same
struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
}
void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) {
struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
mem_mgr_alloc_cmd.len = len;
mem_mgr_alloc_cmd.align = align;
mem_mgr_alloc_cmd.flags = flags;
mem_mgr_alloc_cmd.num_hdl = 0;
if (mmu_hdl != 0) {
mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
mem_mgr_alloc_cmd.num_hdl++;
}
if (mmu_hdl2 != 0) {
mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
mem_mgr_alloc_cmd.num_hdl++;
}
do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
*handle = mem_mgr_alloc_cmd.out.buf_handle;
void *ptr = NULL;
if (mem_mgr_alloc_cmd.out.fd > 0) {
ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
assert(ptr != MAP_FAILED);
}
// LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
return ptr;
}
void release(int video0_fd, uint32_t handle) {
struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
mem_mgr_release_cmd.buf_handle = handle;
int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
assert(ret == 0);
}
// *** MemoryManager ***
void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
lock.lock();
void *ptr;
if (!cached_allocations[size].empty()) {
ptr = cached_allocations[size].front();
cached_allocations[size].pop();
*handle = handle_lookup[ptr];
} else {
ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
handle_lookup[ptr] = *handle;
size_lookup[ptr] = size;
}
lock.unlock();
memset(ptr, 0, size);
return ptr;
}
void MemoryManager::free(void *ptr) {
lock.lock();
cached_allocations[size_lookup[ptr]].push(ptr);
lock.unlock();
}
MemoryManager::~MemoryManager() {
for (auto& x : cached_allocations) {
while (!x.second.empty()) {
void *ptr = x.second.front();
x.second.pop();
LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
munmap(ptr, size_lookup[ptr]);
// release fd
close(handle_lookup[ptr] >> 16);
release(video0_fd, handle_lookup[ptr]);
handle_lookup.erase(ptr);
size_lookup.erase(ptr);
}
}
}
system/camerad/cameras/camera_util.h
-39
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@@ -1,39 +0,0 @@
#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;
};
system/camerad/cameras/spectra.cc
+131 -7
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@@ -1,9 +1,7 @@
#include <sys/ioctl.h>
#include <stdint.h>
#include <cassert>
#include <cstring>
#include <string>
#include <vector>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include "media/cam_defs.h"
#include "media/cam_isp.h"
@@ -14,11 +12,94 @@
#include "common/util.h"
#include "common/swaglog.h"
#include "system/camerad/cameras/spectra.h"
// For debugging:
// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
// *** helpers ***
// ************** low level camera helpers ****************
int do_cam_control(int fd, int op_code, void *handle, int size) {
struct cam_control camcontrol = {0};
camcontrol.op_code = op_code;
camcontrol.handle = (uint64_t)handle;
if (size == 0) {
camcontrol.size = 8;
camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE;
} else {
camcontrol.size = size;
camcontrol.handle_type = CAM_HANDLE_USER_POINTER;
}
int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
if (ret == -1) {
LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
}
return ret;
}
std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
struct cam_acquire_dev_cmd cmd = {
.session_handle = session_handle,
.handle_type = CAM_HANDLE_USER_POINTER,
.num_resources = (uint32_t)(data ? num_resources : 0),
.resource_hdl = (uint64_t)data,
};
int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
}
int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
struct cam_config_dev_cmd cmd = {
.session_handle = session_handle,
.dev_handle = dev_handle,
.packet_handle = packet_handle,
};
return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd));
}
int device_control(int fd, int op_code, int session_handle, int dev_handle) {
// start stop and release are all the same
struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle };
return do_cam_control(fd, op_code, &cmd, sizeof(cmd));
}
void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) {
struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0};
mem_mgr_alloc_cmd.len = len;
mem_mgr_alloc_cmd.align = align;
mem_mgr_alloc_cmd.flags = flags;
mem_mgr_alloc_cmd.num_hdl = 0;
if (mmu_hdl != 0) {
mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl;
mem_mgr_alloc_cmd.num_hdl++;
}
if (mmu_hdl2 != 0) {
mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2;
mem_mgr_alloc_cmd.num_hdl++;
}
do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd));
*handle = mem_mgr_alloc_cmd.out.buf_handle;
void *ptr = NULL;
if (mem_mgr_alloc_cmd.out.fd > 0) {
ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0);
assert(ptr != MAP_FAILED);
}
// LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr);
return ptr;
}
void release(int video0_fd, uint32_t handle) {
struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0};
mem_mgr_release_cmd.buf_handle = handle;
int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd));
assert(ret == 0);
}
static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings)));
@@ -28,6 +109,49 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
return (struct cam_cmd_power *)(unconditional_wait + 1);
}
// *** MemoryManager ***
void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
lock.lock();
void *ptr;
if (!cached_allocations[size].empty()) {
ptr = cached_allocations[size].front();
cached_allocations[size].pop();
*handle = handle_lookup[ptr];
} else {
ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
handle_lookup[ptr] = *handle;
size_lookup[ptr] = size;
}
lock.unlock();
memset(ptr, 0, size);
return ptr;
}
void MemoryManager::free(void *ptr) {
lock.lock();
cached_allocations[size_lookup[ptr]].push(ptr);
lock.unlock();
}
MemoryManager::~MemoryManager() {
for (auto& x : cached_allocations) {
while (!x.second.empty()) {
void *ptr = x.second.front();
x.second.pop();
LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
munmap(ptr, size_lookup[ptr]);
// release fd
close(handle_lookup[ptr] >> 16);
release(video0_fd, handle_lookup[ptr]);
handle_lookup.erase(ptr);
size_lookup.erase(ptr);
}
}
}
// *** SpectraMaster ***
void SpectraMaster::init() {
system/camerad/cameras/spectra.h
+30 -1
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@@ -4,10 +4,10 @@
#include <utility>
#include "media/cam_isp_ife.h"
#include "media/cam_req_mgr.h"
#include "common/util.h"
#include "system/camerad/cameras/tici.h"
#include "system/camerad/cameras/camera_util.h"
#include "system/camerad/cameras/camera_common.h"
#include "system/camerad/sensors/sensor.h"
@@ -19,6 +19,35 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
// https://github.com/commaai/agnos-kernel-sdm845
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;
};
class SpectraMaster {
public:
void init();
tools/replay/camera.cc
+3 -1
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@@ -1,7 +1,9 @@
#include "tools/replay/camera.h"
#include <capnp/dynamic.h>
#include <cassert>
#include <algorithm>
#include <capnp/dynamic.h>
#include "third_party/linux/include/msm_media_info.h"
#include "tools/replay/util.h"