revert tg calib and opencl cleanup (#37113)

* Revert "Remove all the OpenCL (#37105)"

This reverts commit d5cbb89d84.

* Revert "rm common/mat.h"

This reverts commit 4ce701150a.

* Revert "Calibrate in tg (#36621)"

This reverts commit 593c3a0c8e.

system/camerad/SConscript

@@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
-libs = [common, messaging, visionipc]
+libs = [common, 'OpenCL', messaging, visionipc]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',

system/camerad/cameras/camera_common.cc

@@ -7,7 +7,7 @@
 #include "system/camerad/cameras/spectra.h"
 
 
-void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
   vipc_server = v;
   stream_type = type;
   frame_buf_count = frame_cnt;
@@ -21,8 +21,9 @@ void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, Vis
     const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
     for (int i = 0; i < frame_buf_count; i++) {
       camera_bufs_raw[i].allocate(raw_frame_size);
+      camera_bufs_raw[i].init_cl(device_id, context);
     }
-    LOGD("allocated %d buffers", frame_buf_count);
+    LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
   vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset);

system/camerad/cameras/camera_common.h

@@ -36,7 +36,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
   void sendFrameToVipc();
 };
 

system/camerad/cameras/camera_qcom2.cc

@@ -12,8 +12,16 @@
 #include <string>
 #include <vector>
 
+#ifdef __TICI__
+#include "CL/cl_ext_qcom.h"
+#else
+#define CL_PRIORITY_HINT_HIGH_QCOM NULL
+#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
+#endif
+
 #include "media/cam_sensor_cmn_header.h"
 
+#include "common/clutil.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 
@@ -49,7 +57,7 @@ public:
 
   CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
   ~CameraState();
-  void init(VisionIpcServer *v);
+  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);
   void set_camera_exposure(float grey_frac);
   void set_exposure_rect();
@@ -60,8 +68,8 @@ public:
   }
 };
 
-void CameraState::init(VisionIpcServer *v) {
-  camera.camera_open(v);
+void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+  camera.camera_open(v, device_id, ctx);
 
   if (!camera.enabled) return;
 
@@ -249,7 +257,11 @@ void CameraState::sendState() {
 void camerad_thread() {
   // TODO: centralize enabled handling
 
-  VisionIpcServer v("camerad");
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
+  cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
+
+  VisionIpcServer v("camerad", device_id, ctx);
 
   // *** initial ISP init ***
   SpectraMaster m;
@@ -259,7 +271,7 @@ void camerad_thread() {
   std::vector<std::unique_ptr<CameraState>> cams;
   for (const auto &config : ALL_CAMERA_CONFIGS) {
     auto cam = std::make_unique<CameraState>(&m, config);
-    cam->init(&v);
+    cam->init(&v, device_id, ctx);
     cams.emplace_back(std::move(cam));
   }
 

system/camerad/cameras/spectra.cc

@@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() {
   return ret;
 }
 
-void SpectraCamera::camera_open(VisionIpcServer *v) {
+void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
   if (!openSensor()) {
     return;
   }
@@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
   linkDevices();
 
   LOGD("camera init %d", cc.camera_num);
-  buf.init(this, v, ife_buf_depth, cc.stream_type);
+  buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
   camera_map_bufs();
   clearAndRequeue(1);
 }

system/camerad/cameras/spectra.h

@@ -113,7 +113,7 @@ public:
   SpectraCamera(SpectraMaster *master, const CameraConfig &config);
   ~SpectraCamera();
 
-  void camera_open(VisionIpcServer *v);
+  void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   bool handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();

system/loggerd/SConscript

@@ -2,13 +2,16 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
 libs = [common, messaging, visionipc,
         'avformat', 'avcodec', 'avutil',
-        'yuv', 'pthread', 'zstd']
+        'yuv', 'OpenCL', 'pthread', 'zstd']
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
 if arch != "larch64":
   src += ['encoder/ffmpeg_encoder.cc']
 
 if arch == "Darwin":
+  # fix OpenCL
+  del libs[libs.index('OpenCL')]
+  env['FRAMEWORKS'] = ['OpenCL']
   # exclude v4l
   del src[src.index('encoder/v4l_encoder.cc')]