camerad: move output_type to config (#34792)

move output_type to config

system/camerad/cameras/camera_common.cc

@@ -15,7 +15,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   const SensorInfo *sensor = cam->sensor.get();
 
   // RAW frames from ISP
-  if (cam->output_type != ISP_IFE_PROCESSED) {
+  if (cam->cc.output_type != ISP_IFE_PROCESSED) {
     camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
 
     const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;

system/camerad/cameras/camera_qcom2.cc

@@ -55,7 +55,7 @@ public:
   float fl_pix = 0;
   std::unique_ptr<PubMaster> pm;
 
-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
   ~CameraState();
   void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);

system/camerad/cameras/hw.h

@@ -6,6 +6,13 @@
 
 #include "media/cam_isp_ife.h"
 
+
+typedef enum {
+  ISP_RAW_OUTPUT,   // raw frame from sensor
+  ISP_IFE_PROCESSED,  // fully processed image through the IFE
+  ISP_BPS_PROCESSED,  // fully processed image through the BPS
+} SpectraOutputType;
+
 // For the comma 3/3X three camera platform
 
 struct CameraConfig {
@@ -17,6 +24,7 @@ struct CameraConfig {
   bool enabled;
   uint32_t phy;
   bool vignetting_correction;
+  SpectraOutputType output_type;
 };
 
 // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
@@ -30,6 +38,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .enabled = !getenv("DISABLE_WIDE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_0,
   .vignetting_correction = false,
+  .output_type = ISP_IFE_PROCESSED,
 };
 
 const CameraConfig ROAD_CAMERA_CONFIG = {
@@ -41,6 +50,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .enabled = !getenv("DISABLE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_1,
   .vignetting_correction = true,
+  .output_type = ISP_IFE_PROCESSED,
 };
 
 const CameraConfig DRIVER_CAMERA_CONFIG = {
@@ -52,6 +62,7 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .enabled = !getenv("DISABLE_DRIVER"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_2,
   .vignetting_correction = false,
+  .output_type = ISP_BPS_PROCESSED,
 };
 
 const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG};

system/camerad/cameras/spectra.cc

@@ -233,12 +233,11 @@ void SpectraMaster::init() {
 
 // *** SpectraCamera ***
 
-SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out)
+SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config)
   : m(master),
     enabled(config.enabled),
-    cc(config),
-    output_type(out) {
-  ife_buf_depth = (out == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT;
+    cc(config) {
+  ife_buf_depth = (cc.output_type == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT;
   assert(ife_buf_depth < MAX_IFE_BUFS);
 }
 
@@ -290,7 +289,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
-  if (output_type != ISP_RAW_OUTPUT) {
+  if (cc.output_type != ISP_RAW_OUTPUT) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
@@ -299,7 +298,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   open = true;
   configISP();
-  if (output_type == ISP_BPS_PROCESSED) configICP();
+  if (cc.output_type == ISP_BPS_PROCESSED) configICP();
   configCSIPHY();
   linkDevices();
 
@@ -736,7 +735,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     buf_desc[0].offset = ife_cmd.aligned_size()*idx;
 
     // stream of IFE register writes
-    bool is_raw = output_type != ISP_IFE_PROCESSED;
+    bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
         buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
@@ -825,7 +824,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
 
     struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
-    if (output_type != ISP_IFE_PROCESSED) {
+    if (cc.output_type != ISP_IFE_PROCESSED) {
       io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
         .width = sensor->frame_width,
@@ -934,7 +933,7 @@ void SpectraCamera::enqueue_frame(uint64_t request_id) {
 
   // submit request to IFE and BPS
   config_ife(i, request_id);
-  if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id);
+  if (cc.output_type == ISP_BPS_PROCESSED) config_bps(i, request_id);
 }
 
 void SpectraCamera::destroySyncObjectAt(int index) {
@@ -967,7 +966,7 @@ void SpectraCamera::camera_map_bufs() {
       mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
     }
 
-    if (output_type != ISP_IFE_PROCESSED) {
+    if (cc.output_type != ISP_IFE_PROCESSED) {
       // RAW bayer images
       mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
       ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
@@ -976,7 +975,7 @@ void SpectraCamera::camera_map_bufs() {
       buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
     }
 
-    if (output_type != ISP_RAW_OUTPUT) {
+    if (cc.output_type != ISP_RAW_OUTPUT) {
       // final processed images
       VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
       mem_mgr_map_cmd.fd = vb->fd;
@@ -1073,7 +1072,7 @@ void SpectraCamera::configISP() {
     },
   };
 
-  if (output_type != ISP_IFE_PROCESSED) {
+  if (cc.output_type != ISP_IFE_PROCESSED) {
     in_port_info.line_start = 0;
     in_port_info.line_stop = sensor->frame_height + sensor->extra_height - 1;
     in_port_info.height = sensor->frame_height + sensor->extra_height;
@@ -1096,7 +1095,7 @@ void SpectraCamera::configISP() {
 
   // allocate IFE memory, then configure it
   ife_cmd.init(m, 67984, 0x20, false, m->device_iommu, m->cdm_iommu, ife_buf_depth);
-  if (output_type == ISP_IFE_PROCESSED) {
+  if (cc.output_type == ISP_IFE_PROCESSED) {
     assert(sensor->gamma_lut_rgb.size() == 64);
     ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
     for (int i = 0; i < 3; i++) {
@@ -1248,7 +1247,7 @@ void SpectraCamera::linkDevices() {
   ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
   LOGD("start isp: %d", ret);
   assert(ret == 0);
-  if (output_type == ISP_BPS_PROCESSED) {
+  if (cc.output_type == ISP_BPS_PROCESSED) {
     ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle);
     LOGD("start icp: %d", ret);
     assert(ret == 0);
@@ -1263,7 +1262,7 @@ void SpectraCamera::camera_close() {
     // LOGD("stop sensor: %d", ret);
     int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
     LOGD("stop isp: %d", ret);
-    if (output_type == ISP_BPS_PROCESSED) {
+    if (cc.output_type == ISP_BPS_PROCESSED) {
       ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle);
       LOGD("stop icp: %d", ret);
     }
@@ -1292,7 +1291,7 @@ void SpectraCamera::camera_close() {
     LOGD("-- Release devices");
     ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
     LOGD("release isp: %d", ret);
-    if (output_type == ISP_BPS_PROCESSED) {
+    if (cc.output_type == ISP_BPS_PROCESSED) {
       ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
       LOGD("release icp: %d", ret);
     }

system/camerad/cameras/spectra.h

@@ -22,7 +22,6 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 // For use with the Titan 170 ISP in the SDM845
 // https://github.com/commaai/agnos-kernel-sdm845
 
-
 // CSLDeviceType/CSLPacketOpcodesIFE from camx
 // cam_packet_header.op_code = (device << 24) | (opcode);
 #define CSLDeviceTypeImageSensor (0x01 << 24)
@@ -31,12 +30,6 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 
-typedef enum {
-  ISP_RAW_OUTPUT,   // raw frame from sensor
-  ISP_IFE_PROCESSED,  // fully processed image through the IFE
-  ISP_BPS_PROCESSED,  // fully processed image through the BPS
-} SpectraOutputType;
-
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
 int device_control(int fd, int op_code, int session_handle, int dev_handle);
@@ -117,7 +110,7 @@ public:
 
 class SpectraCamera {
 public:
-  SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out);
+  SpectraCamera(SpectraMaster *master, const CameraConfig &config);
   ~SpectraCamera();
 
   void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
@@ -192,8 +185,6 @@ public:
   int invalid_request_count = 0;
   bool skip_expected = true;
 
-  SpectraOutputType output_type;
-
   CameraBuf buf;
   SpectraMaster *m;