mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 12:23:53 +08:00
6b020241c9
* refactor add function get_camerabuf_by_type remove cl_free use camera_id move front stuff into frontview_thread bigger refactor more typo rename camerabuf *c to *b cleanup header files remove wideview_thread camera_qcom.c to c++ fix SConscript camera_process_buf space sendrgb same with before do autoexposure in processing_thread correct sendrgb add camera_common.cc move yuv_transform to CameraBuf * use C to keep consitent * rebase master * rebase master * continue refactor * refactor all camera related data&function out of main done * cleanup * -use buf.rgb_width&height * remoe , * rebase master * remove unused std::vector * add func common_camera_process_front * fix max * fix sendrgb * less crap being logged * fix indents * add back thumbnails * thumbnail fixed on tici * junk junk junk * unify api * fix ptr ref * lol! * cleanup * more simplified * typos * remove terminate * use standard polling * ops_thread refactor, too much code! * fix build * ok * assert * listen * incl more * wq! * fix more build * macos * fix exp targets * front is different * const * bye * remath * remove irrelevant * do ops in a thread * fix init * return null * QCOM2 ops * qcom2 build * missing comma Co-authored-by: deanlee <deanlee3@gmail.com> Co-authored-by: Comma Device <device@comma.ai>
108 lines
2.6 KiB
C
108 lines
2.6 KiB
C
#include "visionbuf.h"
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#include <stdio.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
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#ifdef __APPLE__
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#include <OpenCL/cl.h>
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#else
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#include <CL/cl.h>
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#endif
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int offset = 0;
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void *malloc_with_fd(size_t len, int *fd) {
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char full_path[0x100];
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#ifdef __APPLE__
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snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
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#else
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snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
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#endif
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*fd = open(full_path, O_RDWR | O_CREAT, 0777);
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assert(*fd >= 0);
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unlink(full_path);
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ftruncate(*fd, len);
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void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
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assert(addr != MAP_FAILED);
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return addr;
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}
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VisionBuf visionbuf_allocate(size_t len) {
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// const size_t alignment = 4096;
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// void* addr = aligned_alloc(alignment, alignment * ((len - 1) / alignment + 1));
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//void* addr = calloc(1, len);
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int fd;
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void *addr = malloc_with_fd(len, &fd);
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return (VisionBuf){
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.len = len, .addr = addr, .handle = 1, .fd = fd,
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};
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}
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VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
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int err;
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#if __OPENCL_VERSION__ >= 200
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void* host_ptr =
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clSVMAlloc(ctx, CL_MEM_READ_WRITE | CL_MEM_SVM_FINE_GRAIN_BUFFER, len, 0);
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assert(host_ptr);
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#else
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int fd;
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void* host_ptr = malloc_with_fd(len, &fd);
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cl_command_queue q = clCreateCommandQueue(ctx, device_id, 0, &err);
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assert(err == 0);
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#endif
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cl_mem mem = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, len, host_ptr, &err);
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assert(err == 0);
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return (VisionBuf){
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.len = len, .addr = host_ptr, .handle = 0, .fd = fd,
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.device_id = device_id, .ctx = ctx, .buf_cl = mem,
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#if __OPENCL_VERSION__ < 200
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.copy_q = q,
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#endif
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};
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}
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void visionbuf_sync(const VisionBuf* buf, int dir) {
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int err = 0;
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if (!buf->buf_cl) return;
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#if __OPENCL_VERSION__ < 200
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if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
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err = clEnqueueReadBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
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} else {
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err = clEnqueueWriteBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
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}
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assert(err == 0);
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clFinish(buf->copy_q);
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#endif
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}
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void visionbuf_free(const VisionBuf* buf) {
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if (buf->handle) {
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munmap(buf->addr, buf->len);
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close(buf->fd);
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} else {
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int err = clReleaseMemObject(buf->buf_cl);
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assert(err == 0);
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#if __OPENCL_VERSION__ >= 200
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clSVMFree(buf->ctx, buf->addr);
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#else
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clReleaseCommandQueue(buf->copy_q);
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munmap(buf->addr, buf->len);
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close(buf->fd);
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#endif
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}
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}
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