mirror of https://github.com/commaai/cereal.git
67 lines
1.3 KiB
C++
67 lines
1.3 KiB
C++
#pragma once
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#include "cereal/visionipc/visionipc.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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#define VISIONBUF_SYNC_FROM_DEVICE 0
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#define VISIONBUF_SYNC_TO_DEVICE 1
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enum VisionStreamType {
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VISION_STREAM_ROAD,
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VISION_STREAM_DRIVER,
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VISION_STREAM_WIDE_ROAD,
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VISION_STREAM_MAP,
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VISION_STREAM_MAX,
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};
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class VisionBuf {
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public:
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size_t len = 0;
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size_t mmap_len = 0;
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void * addr = nullptr;
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uint64_t *frame_id;
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int fd = 0;
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bool rgb = false;
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size_t width = 0;
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size_t height = 0;
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size_t stride = 0;
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size_t uv_offset = 0;
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// YUV
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uint8_t * y = nullptr;
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uint8_t * uv = nullptr;
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// Visionipc
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uint64_t server_id = 0;
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size_t idx = 0;
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VisionStreamType type;
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// OpenCL
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cl_mem buf_cl = nullptr;
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cl_command_queue copy_q = nullptr;
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// ion
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int handle = 0;
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void allocate(size_t len);
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void import();
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void init_cl(cl_device_id device_id, cl_context ctx);
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void init_rgb(size_t width, size_t height, size_t stride);
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void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset);
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int sync(int dir);
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int free();
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void set_frame_id(uint64_t id);
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uint64_t get_frame_id();
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};
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void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
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