tici: add (somewhat) broken camerad support (#1300)

* capnparm

* building in progress

* scons build works

* that script fixes opencl

* start new camera code

* includes and more camera scripts

* control c works now

* no device control yet

* phy too

* just one camera for now

* fix capnparm

* hmm, the inits are needed

* more cameras

* link stop start

* doesn't work yet

* fix ion on qcom2

* start poll ish

* 4 pictures and done

* no jpeg

* it works to picture

* destroy sync obj

* both work for now

* defined QCOM2

* fix fd leak

* run modeld

* 10 bit mode

* real frame stride

* needs digital gain

* dnew

* no color correcting on new

* that snpe doesn't work

* qcom2 gate

* cleanups

* oops, fix aarch64 detector

* update cereal

* modeld works with SNPE

* fix driver monitoring model

Co-authored-by: Tici <robbe@comma.ai>

external/capnparm/.gitignore

@@ -0,0 +1 @@
+capnproto-c++-0.6.1*

external/capnparm/bin/capnpc

@@ -0,0 +1 @@
+capnp

external/capnparm/build.sh

@@ -0,0 +1,47 @@
+set -e
+echo "Installing capnp"
+
+ONE=${HOME}/openpilot
+VERSION=0.6.1
+wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
+tar xvf capnproto-c++-${VERSION}.tar.gz
+cd capnproto-c++-${VERSION}
+CXXFLAGS="-fPIC" ./configure --prefix=${ONE}/external/capnparm
+make -j9
+
+# manually build binaries statically
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
+
+
+make -j4 install
+
+# --------
+echo "Installing c-capnp"
+
+git clone https://github.com/commaai/c-capnproto.git
+cd c-capnproto
+git submodule update --init --recursive
+autoreconf -f -i -s
+CFLAGS="-fPIC" ./configure --prefix=${ONE}/external/capnparm
+make -j4
+
+# manually build binaries statically
+gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a -Wl,-rpath -Wl,${ONE}/external/capnp/lib
+
+make install
+
+# --------
+echo "Installing java-capnp"
+
+git clone https://github.com/dwrensha/capnproto-java.git
+cd capnproto-java
+git reset --hard 2c43bd712fb218da0eabdf241a750b9c05903e8e
+g++ compiler/src/main/cpp/capnpc-java.c++ -std=c++11 -pthread -I${ONE}/external/capnp/include -L${ONE}/external/capnp/lib -l:libcapnp.a -l:libkj.a -pthread -lpthread -o capnpc-java
+cp capnpc-java ${ONE}/external/capnp/bin/
+
+rm -rf capnproto-c++-${VERSION}.tar.gz
+rm -rf capnproto-c++-${VERSION}

external/capnparm/include

@@ -0,0 +1 @@
+../capnp/include

external/capnparm/lib/libcapnp-json.la

@@ -0,0 +1,41 @@
+# libcapnp-json.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp-json-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnp-json-0.6.1.so libcapnp-json-0.6.1.so libcapnp-json.so'
+
+# The name of the static archive.
+old_library='libcapnp-json.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libcapnp.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp-json.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libcapnp-json.so

@@ -0,0 +1 @@
+libcapnp-json-0.6.1.so

external/capnparm/lib/libcapnp-rpc.la

@@ -0,0 +1,41 @@
+# libcapnp-rpc.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp-rpc-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnp-rpc-0.6.1.so libcapnp-rpc-0.6.1.so libcapnp-rpc.so'
+
+# The name of the static archive.
+old_library='libcapnp-rpc.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libcapnp.la /home/comma/openpilot/external/capnparm/lib/libkj-async.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp-rpc.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libcapnp-rpc.so

@@ -0,0 +1 @@
+libcapnp-rpc-0.6.1.so

external/capnparm/lib/libcapnp.la

@@ -0,0 +1,41 @@
+# libcapnp.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnp-0.6.1.so libcapnp-0.6.1.so libcapnp.so'
+
+# The name of the static archive.
+old_library='libcapnp.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libcapnp.so

@@ -0,0 +1 @@
+libcapnp-0.6.1.so

external/capnparm/lib/libcapnp_c.la

@@ -0,0 +1,41 @@
+# libcapnp_c.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-0.1
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnp_c.so.0'
+
+# Names of this library.
+library_names='libcapnp_c.so.0.0.0 libcapnp_c.so.0 libcapnp_c.so'
+
+# The name of the static archive.
+old_library='libcapnp_c.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=''
+
+# Libraries that this one depends upon.
+dependency_libs=''
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnp_c.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libcapnp_c.so

@@ -0,0 +1 @@
+libcapnp_c.so.0.0.0

external/capnparm/lib/libcapnp_c.so.0

@@ -0,0 +1 @@
+libcapnp_c.so.0.0.0

external/capnparm/lib/libcapnpc.la

@@ -0,0 +1,41 @@
+# libcapnpc.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libcapnpc-0.6.1.so'
+
+# Names of this library.
+library_names='libcapnpc-0.6.1.so libcapnpc-0.6.1.so libcapnpc.so'
+
+# The name of the static archive.
+old_library='libcapnpc.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libcapnp.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libcapnpc.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libcapnpc.so

@@ -0,0 +1 @@
+libcapnpc-0.6.1.so

external/capnparm/lib/libkj-async.la

@@ -0,0 +1,41 @@
+# libkj-async.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-async-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-async-0.6.1.so libkj-async-0.6.1.so libkj-async.so'
+
+# The name of the static archive.
+old_library='libkj-async.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj-async.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libkj-async.so

@@ -0,0 +1 @@
+libkj-async-0.6.1.so

external/capnparm/lib/libkj-http.la

@@ -0,0 +1,41 @@
+# libkj-http.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-http-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-http-0.6.1.so libkj-http-0.6.1.so libkj-http.so'
+
+# The name of the static archive.
+old_library='libkj-http.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj-async.la /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj-http.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libkj-http.so

@@ -0,0 +1 @@
+libkj-http-0.6.1.so

external/capnparm/lib/libkj-test.la

@@ -0,0 +1,41 @@
+# libkj-test.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-test-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-test-0.6.1.so libkj-test-0.6.1.so libkj-test.so'
+
+# The name of the static archive.
+old_library='libkj-test.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' /home/comma/openpilot/external/capnparm/lib/libkj.la -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj-test.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libkj-test.so

@@ -0,0 +1 @@
+libkj-test-0.6.1.so

external/capnparm/lib/libkj.la

@@ -0,0 +1,41 @@
+# libkj.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-2
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libkj-0.6.1.so'
+
+# Names of this library.
+library_names='libkj-0.6.1.so libkj-0.6.1.so libkj.so'
+
+# The name of the static archive.
+old_library='libkj.a'
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' -lpthread'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libkj.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/home/comma/openpilot/external/capnparm/lib'

external/capnparm/lib/libkj.so

@@ -0,0 +1 @@
+libkj-0.6.1.so

external/capnparm/lib/pkgconfig/c-capnproto.pc

@@ -0,0 +1,12 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+bindir=${exec_prefix}/bin
+includedir=${prefix}/include
+codegen=${bindir}/capnpc-c
+
+Name: c-capnproto
+Description: Cap'n Proto C bindings
+Version: 0.2
+Libs: -L${libdir} -lcapnp_c
+Cflags: -I${includedir}

external/capnparm/lib/pkgconfig/capnp-rpc.pc

@@ -0,0 +1,11 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: Cap'n Proto RPC
+Description: Fast object-oriented RPC system
+Version: 0.6.1
+Libs: -L${libdir} -lcapnp-rpc
+Requires: capnp = 0.6.1 kj-async = 0.6.1
+Cflags: -I${includedir}

external/capnparm/lib/pkgconfig/capnp.pc

@@ -0,0 +1,12 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: Cap'n Proto
+Description: Insanely fast serialization system
+Version: 0.6.1
+Libs: -L${libdir} -lcapnp -pthread  -lpthread 
+Libs.private:  -lpthread 
+Requires: kj = 0.6.1
+Cflags: -I${includedir} -pthread  

external/capnparm/lib/pkgconfig/kj-async.pc

@@ -0,0 +1,11 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: KJ Async Framework Library
+Description: Basic utility library called KJ (async part)
+Version: 0.6.1
+Libs: -L${libdir} -lkj-async -pthread  -lpthread 
+Requires: kj = 0.6.1
+Cflags: -I${includedir} -pthread  

external/capnparm/lib/pkgconfig/kj.pc

@@ -0,0 +1,10 @@
+prefix=/home/comma/openpilot/external/capnparm
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: KJ Framework Library
+Description: Basic utility library called KJ
+Version: 0.6.1
+Libs: -L${libdir} -lkj -pthread  -lpthread 
+Cflags: -I${includedir} -pthread