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camerad: add CameraConfig struct for initializing CameraState in cons…
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…tructor (commaai#33034)

* Add CameraConfig struct for initializing CameraState in constructor

* Update system/camerad/cameras/camera_qcom2.h

---------

Co-authored-by: Adeeb Shihadeh <[email protected]>
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@deanlee @adeebshihadeh
deanlee and adeebshihadeh authored Jul 22, 2024
1 parent 1aa467c commit dc886e1
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Showing 3 changed files with 65 additions and 27 deletions.
3 changes: 0 additions & 3 deletions system/camerad/cameras/camera_common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,9 +18,6 @@ enum CameraType {
};

// for debugging
const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
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43 changes: 27 additions & 16 deletions system/camerad/cameras/camera_qcom2.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py

extern ExitHandler do_exit;

CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
: multi_cam_state(multi_camera_state),
camera_num(config.camera_num),
stream_type(config.stream_type),
focal_len(config.focal_len),
enabled(config.enabled) {
}

int CameraState::clear_req_queue() {
struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
req_mgr_flush_request.session_hdl = session_handle;
Expand Down Expand Up @@ -434,39 +442,36 @@ void CameraState::sensor_set_parameters() {
cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
}

void CameraState::camera_map_bufs(MultiCameraState *s) {
void CameraState::camera_map_bufs() {
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
// configure ISP to put the image in place
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
mem_mgr_map_cmd.num_hdl = 1;
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
}
enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
}

void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
if (!enabled) return;

LOGD("camera init %d", camera_num);
request_id_last = 0;
skipped = true;

buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
camera_map_bufs(s);
buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
camera_map_bufs();

fl_pix = focal_len / ci->pixel_size_mm;
set_exposure_rect();
}

void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
multi_cam_state = multi_cam_state_;
camera_num = camera_num_;
enabled = enabled_;
void CameraState::camera_open() {
if (!enabled) return;

sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
Expand Down Expand Up @@ -644,9 +649,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
}

void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
s->driver_cam.camera_init(v, device_id, ctx);
s->road_cam.camera_init(v, device_id, ctx);
s->wide_road_cam.camera_init(v, device_id, ctx);

s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
}
Expand Down Expand Up @@ -690,11 +695,11 @@ void cameras_open(MultiCameraState *s) {
ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
LOGD("req mgr subscribe: %d", ret);

s->driver_cam.camera_open(s, 2, !env_disable_driver);
s->driver_cam.camera_open();
LOGD("driver camera opened");
s->road_cam.camera_open(s, 1, !env_disable_road);
s->road_cam.camera_open();
LOGD("road camera opened");
s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
s->wide_road_cam.camera_open();
LOGD("wide road camera opened");
}

Expand Down Expand Up @@ -956,6 +961,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
}

MultiCameraState::MultiCameraState()
: driver_cam(this, DRIVER_CAMERA_CONFIG),
road_cam(this, ROAD_CAMERA_CONFIG),
wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
}

void cameras_run(MultiCameraState *s) {
LOG("-- Starting threads");
std::vector<std::thread> threads;
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46 changes: 38 additions & 8 deletions system/camerad/cameras/camera_qcom2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,15 +11,41 @@

#define FRAME_BUF_COUNT 4

#define ROAD_FL_MM 8.0f
#define WIDE_FL_MM 1.71f
#define DRIVER_FL_MM 1.71f
struct CameraConfig {
int camera_num;
VisionStreamType stream_type;
float focal_len; // millimeters
bool enabled;
};

const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
.camera_num = 0,
.stream_type = VISION_STREAM_WIDE_ROAD,
.focal_len = 1.71,
.enabled = !getenv("DISABLE_WIDE_ROAD"),
};

const CameraConfig ROAD_CAMERA_CONFIG = {
.camera_num = 1,
.stream_type = VISION_STREAM_ROAD,
.focal_len = 8.0,
.enabled = !getenv("DISABLE_ROAD"),
};

const CameraConfig DRIVER_CAMERA_CONFIG = {
.camera_num = 2,
.stream_type = VISION_STREAM_DRIVER,
.focal_len = 1.71,
.enabled = !getenv("DISABLE_DRIVER"),
};

class CameraState {
public:
MultiCameraState *multi_cam_state;
std::unique_ptr<const SensorInfo> ci;
bool enabled;
VisionStreamType stream_type;
float focal_len;

std::mutex exp_lock;

Expand All @@ -44,17 +70,18 @@ class CameraState {
int camera_num;
float fl_pix;

CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
void handle_camera_event(void *evdat);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
void set_camera_exposure(float grey_frac);

void sensors_start();

void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
void camera_open();
void set_exposure_rect();
void sensor_set_parameters();
void camera_map_bufs(MultiCameraState *s);
void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
void camera_map_bufs();
void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
void camera_close();

int32_t session_handle;
Expand Down Expand Up @@ -90,7 +117,10 @@ class CameraState {
Params params;
};

typedef struct MultiCameraState {
class MultiCameraState {
public:
MultiCameraState();

unique_fd video0_fd;
unique_fd cam_sync_fd;
unique_fd isp_fd;
Expand All @@ -102,4 +132,4 @@ typedef struct MultiCameraState {
CameraState driver_cam;

PubMaster *pm;
} MultiCameraState;
};

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