Release 260111

system/camerad/cameras/camera_common.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#include <memory>
+
+#include "cereal/messaging/messaging.h"
+#include "msgq/visionipc/visionipc_server.h"
+#include "common/util.h"
+
+
+const int VIPC_BUFFER_COUNT = 18;
+
+typedef struct FrameMetadata {
+  uint32_t frame_id;
+  uint32_t request_id;
+  uint64_t timestamp_sof;
+  uint64_t timestamp_eof;
+  float processing_time;
+} FrameMetadata;
+
+class SpectraCamera;
+
+class CameraBuf {
+private:
+  int frame_buf_count;
+
+public:
+  VisionIpcServer *vipc_server;
+  VisionStreamType stream_type;
+
+  int cur_buf_idx;
+  FrameMetadata cur_frame_data;
+  VisionBuf *cur_yuv_buf;
+  VisionBuf *cur_camera_buf;
+  std::unique_ptr<VisionBuf[]> camera_bufs_raw;
+  uint32_t out_img_width, out_img_height;
+
+  CameraBuf() = default;
+  ~CameraBuf();
+  void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  void sendFrameToVipc();
+};
+
+void camerad_thread();
+kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
+float calculate_exposure_value(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
+int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);