From 12b4f9aa4fc66e3fd29ebe3a7000a79ea93fa655 Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Sun, 22 Nov 2020 17:41:38 +1000
Subject: [PATCH] bug fixes

---
 selfdrive/camerad/cameras/camera_common.h | 7 +++++++
 selfdrive/camerad/main.cc                 | 1 +
 selfdrive/common/visionipc.h              | 1 +
 3 files changed, 9 insertions(+)

diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index d395241e9..fc5fa229d 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -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,
diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index 712a08809..4809315df 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -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);
diff --git a/selfdrive/common/visionipc.h b/selfdrive/common/visionipc.h
index 1b216f525..e20500db6 100644
--- a/selfdrive/common/visionipc.h
+++ b/selfdrive/common/visionipc.h
@@ -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;