Merge branch 'master' into docker-sysroot

PhotonVision · Dec 18, 2023 · 1457f15 · 1457f15
2 parents c84c6f8 + 2efcd61
commit 1457f15
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Showing 7 changed files with 27 additions and 11 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -21,7 +21,7 @@ jobs:
         bind_mount_repository: true
         commands: |
             apt-get update
-            apt-get install -y libopencv-dev libegl1-mesa-dev libcamera-dev cmake build-essential libdrm-dev libgbm-dev openjdk-17-jdk
+            apt-get install -y libopencv-dev libegl1-mesa-dev libcamera-dev cmake build-essential libdrm-dev libgbm-dev default-jdk openjdk-17-jdk
             cmake -B build-pi -DCMAKE_BUILD_TYPE=Release
             cmake --build build-pi -- -j
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.15)
+
 project(libcamera_meme)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

diff --git a/camera_grabber.cpp b/camera_grabber.cpp
@@ -45,10 +45,9 @@ CameraGrabber::CameraGrabber(std::shared_ptr<libcamera::Camera> camera,
 
     printf("Rotation = %i\n", rotation);
     if (rotation == 180) {
-        using namespace libcamera;
-        config->transform = Transform::HFlip * Transform::VFlip * libcamera::Transform::Identity;
+        config->orientation = libcamera::Orientation::Rotate180;
     } else {
-        config->transform = libcamera::Transform::Identity;
+        config->orientation = libcamera::Orientation::Rotate0;
     }
 
     if (config->validate() == libcamera::CameraConfiguration::Invalid) {

diff --git a/camera_model.cpp b/camera_model.cpp
@@ -6,6 +6,7 @@ CameraModel stringToModel(const std::string& model) {
     const char* famname = model.c_str();
     if (!strcmp(famname, "ov5647")) return OV5647;
     else if (!strcmp(famname, "imx219")) return IMX219;
+    else if (!strcmp(famname, "imx708")) return IMX708;
     else if (!strcmp(famname, "imx477")) return IMX477;
     else if (!strcmp(famname, "ov9281")) return OV9281;
     else if (!strcmp(famname, "ov7251")) return OV7251;

diff --git a/camera_model.h b/camera_model.h
@@ -6,6 +6,7 @@ enum CameraModel {
     Disconnected = 0,
     OV5647, // Picam v1
     IMX219, // Picam v2
+    IMX708, // Picam v3
     IMX477, // Picam HQ
     OV9281,
     OV7251,

diff --git a/camera_runner.cpp b/camera_runner.cpp
@@ -19,6 +19,9 @@ using latch = Latch;
 #include <libcamera/property_ids.h>
 #include <libcamera/control_ids.h>
 
+#include <sys/ioctl.h>
+#include <linux/dma-buf.h>
+
 using namespace std::chrono;
 using namespace std::chrono_literals;
 
@@ -84,11 +87,6 @@ void CameraRunner::start() {
                               .at(grabber.streamConfiguration().stream())
                               ->planes();
 
-            for (int i = 0; i < 3; i++) {
-                // std::cout << "Plane " << (i + 1) << " has fd " << planes[i].fd.get() << " with offset " << planes[i].offset << std::endl;
-                // std::cout << "Plane " << (i + 1) << " has fd " << planes[i].fd.get() << " with offset " << planes[i].offset << " and pitch " << static_cast<EGLint>(stride / 2) << std::endl;
-            }
-
             std::array<GlHsvThresholder::DmaBufPlaneData, 3> yuv_data{{
                 {planes[0].fd.get(), static_cast<EGLint>(planes[0].offset),
                  static_cast<EGLint>(stride)},
@@ -107,7 +105,6 @@ void CameraRunner::start() {
                                     rangeFromColorspace(colorspace),
                                               type);
 
-
             if (out != 0) {
                 /*
                 From libcamera docs:
@@ -177,6 +174,15 @@ void CameraRunner::start() {
             auto input_ptr = mmaped.at(data.fd);
             int bound = m_width * m_height;
 
+
+            {
+                struct dma_buf_sync dma_sync {};
+                dma_sync.flags = DMA_BUF_SYNC_START | DMA_BUF_SYNC_RW;
+                int ret = ::ioctl(data.fd, DMA_BUF_IOCTL_SYNC, &dma_sync);
+                if (ret)
+                    throw std::runtime_error("failed to start DMA buf sync");
+            }
+
             if (m_copyInput) {
                 for (int i = 0; i < bound; i++) {
                     std::memcpy(color_out_buf + i * 3, input_ptr + i * 4, 3);
@@ -188,6 +194,14 @@ void CameraRunner::start() {
                     processed_out_buf[i] = input_ptr[i * 4 + 3];
                 }
             }
+
+            {
+                struct dma_buf_sync dma_sync {};
+                dma_sync.flags = DMA_BUF_SYNC_END | DMA_BUF_SYNC_RW;
+                int ret = ::ioctl(data.fd, DMA_BUF_IOCTL_SYNC, &dma_sync);
+                if (ret)
+                    throw std::runtime_error("failed to start DMA buf sync");
+            }
 
             m_thresholder.returnBuffer(data.fd);
             outgoing.set(std::move(mat_pair));

diff --git a/libcamera_jni.cpp b/libcamera_jni.cpp
@@ -62,7 +62,7 @@ Java_org_photonvision_raspi_LibCameraJNI_createCamera(JNIEnv *env, jclass,
 JNIEXPORT jint Java_org_photonvision_raspi_LibCameraJNI_getSensorModelRaw(
     JNIEnv *env, jclass clazz) {
 
-    bool runner_exists = runner > 0;
+    bool runner_exists = runner != 0;
     if (!runner_exists) {
         Java_org_photonvision_raspi_LibCameraJNI_createCamera(env, clazz,
                                                       320, 240, 30);