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bug fixes

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This commit is contained in:
Rick Lan
2020-11-22 17:41:38 +10:00
parent 3363228d79
commit 12b4f9aa4f
3 changed files with 9 additions and 0 deletions
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selfdrive/camerad/cameras/camera_common.h
+7
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@@ -1,5 +1,6 @@
#pragma once
#include <stdlib.h>
#include <stdbool.h>
#include <stdint.h>
#include <memory>
@@ -34,6 +35,10 @@
#define LOG_CAMERA_ID_QCAMERA 3
#define LOG_CAMERA_ID_MAX 4
const bool env_send_front = getenv("SEND_FRONT") != NULL;
const bool env_send_rear = getenv("SEND_REAR") != NULL;
const bool env_send_wide = getenv("SEND_WIDE") != NULL;
typedef struct CameraInfo {
const char* name;
int frame_width, frame_height;
@@ -58,6 +63,7 @@ typedef struct LogCameraInfo {
typedef struct FrameMetadata {
uint32_t frame_id;
uint64_t timestamp_sof; // only set on tici
uint64_t timestamp_eof;
unsigned int frame_length;
unsigned int integ_lines;
@@ -128,6 +134,7 @@ public:
typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt);
void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride);
void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, 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, const char *tname,
selfdrive/camerad/main.cc
+1
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@@ -205,6 +205,7 @@ void* visionserver_client_thread(void* arg) {
stream_i == VISION_STREAM_YUV_WIDE) {
CameraBuf *b = get_camerabuf_by_type(s, (VisionStreamType)stream_i);
rep.d.stream_acq.extra.frame_id = b->yuv_metas[idx].frame_id;
rep.d.stream_acq.extra.timestamp_sof = b->yuv_metas[idx].timestamp_sof;
rep.d.stream_acq.extra.timestamp_eof = b->yuv_metas[idx].timestamp_eof;
}
vipc_send(fd, &rep);
selfdrive/common/visionipc.h
+1
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@@ -57,6 +57,7 @@ typedef struct VisionStreamBufs {
typedef struct VIPCBufExtra {
// only for yuv
uint32_t frame_id;
uint64_t timestamp_sof;
uint64_t timestamp_eof;
} VIPCBufExtra;