| /* |
| * Copyright 2020 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| #define LOG_TAG "SurroundViewService" |
| |
| #include <android-base/logging.h> |
| #include <android/hardware_buffer.h> |
| #include <android/hidl/memory/1.0/IMemory.h> |
| #include <hidlmemory/mapping.h> |
| #include <set> |
| #include <utils/SystemClock.h> |
| |
| #include "SurroundView3dSession.h" |
| #include "sv_3d_params.h" |
| |
| using ::android::hidl::memory::V1_0::IMemory; |
| using ::android::hardware::hidl_memory; |
| |
| namespace android { |
| namespace hardware { |
| namespace automotive { |
| namespace sv { |
| namespace V1_0 { |
| namespace implementation { |
| |
| static const char kGrayColor = 128; |
| static const int kNumChannels = 4; |
| |
| SurroundView3dSession::SurroundView3dSession() : |
| mStreamState(STOPPED){ |
| mEvsCameraIds = {"0" , "1", "2", "3"}; |
| } |
| |
| // Methods from ::android::hardware::automotive::sv::V1_0::ISurroundViewSession. |
| Return<SvResult> SurroundView3dSession::startStream( |
| const sp<ISurroundViewStream>& stream) { |
| LOG(DEBUG) << __FUNCTION__; |
| scoped_lock<mutex> lock(mAccessLock); |
| |
| if (!mIsInitialized && !initialize()) { |
| LOG(ERROR) << "There is an error while initializing the use case. " |
| << "Exiting"; |
| return SvResult::INTERNAL_ERROR; |
| } |
| |
| if (mStreamState != STOPPED) { |
| LOG(ERROR) << "Ignoring startVideoStream call when a stream is " |
| << "already running."; |
| return SvResult::INTERNAL_ERROR; |
| } |
| |
| if (mViews.empty()) { |
| LOG(ERROR) << "No views have been set for current Surround View" |
| << "3d Session. Please call setViews before starting" |
| << "the stream."; |
| return SvResult::VIEW_NOT_SET; |
| } |
| |
| if (stream == nullptr) { |
| LOG(ERROR) << "The input stream is invalid"; |
| return SvResult::INTERNAL_ERROR; |
| } |
| mStream = stream; |
| |
| LOG(DEBUG) << "Notify SvEvent::STREAM_STARTED"; |
| mStream->notify(SvEvent::STREAM_STARTED); |
| |
| // Start the frame generation thread |
| mStreamState = RUNNING; |
| mCaptureThread = thread([this](){ |
| generateFrames(); |
| }); |
| |
| return SvResult::OK; |
| } |
| |
| Return<void> SurroundView3dSession::stopStream() { |
| LOG(DEBUG) << __FUNCTION__; |
| unique_lock <mutex> lock(mAccessLock); |
| |
| if (mStreamState == RUNNING) { |
| // Tell the GenerateFrames loop we want it to stop |
| mStreamState = STOPPING; |
| |
| // Block outside the mutex until the "stop" flag has been acknowledged |
| // We won't send any more frames, but the client might still get some |
| // already in flight |
| LOG(DEBUG) << __FUNCTION__ << ": Waiting for stream thread to end..."; |
| lock.unlock(); |
| mCaptureThread.join(); |
| lock.lock(); |
| |
| mStreamState = STOPPED; |
| mStream = nullptr; |
| LOG(DEBUG) << "Stream marked STOPPED."; |
| } |
| |
| return {}; |
| } |
| |
| Return<void> SurroundView3dSession::doneWithFrames( |
| const SvFramesDesc& svFramesDesc){ |
| LOG(DEBUG) << __FUNCTION__; |
| scoped_lock <mutex> lock(mAccessLock); |
| |
| framesRecord.inUse = false; |
| |
| (void)svFramesDesc; |
| return {}; |
| } |
| |
| // Methods from ISurroundView3dSession follow. |
| Return<SvResult> SurroundView3dSession::setViews( |
| const hidl_vec<View3d>& views) { |
| LOG(DEBUG) << __FUNCTION__; |
| scoped_lock <mutex> lock(mAccessLock); |
| |
| mViews.resize(views.size()); |
| for (int i=0; i<views.size(); i++) { |
| mViews[i] = views[i]; |
| } |
| |
| return SvResult::OK; |
| } |
| |
| Return<SvResult> SurroundView3dSession::set3dConfig(const Sv3dConfig& sv3dConfig) { |
| LOG(DEBUG) << __FUNCTION__; |
| scoped_lock <mutex> lock(mAccessLock); |
| |
| if (sv3dConfig.width <=0 || sv3dConfig.width > 4096) { |
| LOG(WARNING) << "The width of 3d config is out of the range (0, 4096]" |
| << "Ignored!"; |
| return SvResult::INVALID_ARG; |
| } |
| |
| if (sv3dConfig.height <=0 || sv3dConfig.height > 4096) { |
| LOG(WARNING) << "The height of 3d config is out of the range (0, 4096]" |
| << "Ignored!"; |
| return SvResult::INVALID_ARG; |
| } |
| |
| mConfig.width = sv3dConfig.width; |
| mConfig.height = sv3dConfig.height; |
| mConfig.carDetails = sv3dConfig.carDetails; |
| |
| if (mStream != nullptr) { |
| LOG(DEBUG) << "Notify SvEvent::CONFIG_UPDATED"; |
| mStream->notify(SvEvent::CONFIG_UPDATED); |
| } |
| |
| return SvResult::OK; |
| } |
| |
| Return<void> SurroundView3dSession::get3dConfig(get3dConfig_cb _hidl_cb) { |
| LOG(DEBUG) << __FUNCTION__; |
| |
| _hidl_cb(mConfig); |
| return {}; |
| } |
| |
| bool VerifyOverlayData(const OverlaysData& overlaysData) { |
| // Check size of shared memory matches overlaysMemoryDesc. |
| const int kVertexSize = 16; |
| const int kIdSize = 2; |
| int memDescSize = 0; |
| for (auto& overlayMemDesc : overlaysData.overlaysMemoryDesc) { |
| memDescSize += kIdSize + kVertexSize * overlayMemDesc.verticesCount; |
| } |
| if (memDescSize != overlaysData.overlaysMemory.size()) { |
| LOG(ERROR) << "shared memory and overlaysMemoryDesc size mismatch."; |
| return false; |
| } |
| |
| // Map memory. |
| sp<IMemory> pSharedMemory = mapMemory(overlaysData.overlaysMemory); |
| if(pSharedMemory == nullptr) { |
| LOG(ERROR) << "mapMemory failed."; |
| return false; |
| } |
| |
| // Get Data pointer. |
| uint8_t* pData = static_cast<uint8_t*>( |
| static_cast<void*>(pSharedMemory->getPointer())); |
| if (pData == nullptr) { |
| LOG(ERROR) << "Shared memory getPointer() failed."; |
| return false; |
| } |
| |
| int idOffset = 0; |
| set<uint16_t> overlayIdSet; |
| for (auto& overlayMemDesc : overlaysData.overlaysMemoryDesc) { |
| |
| if (overlayIdSet.find(overlayMemDesc.id) != overlayIdSet.end()) { |
| LOG(ERROR) << "Duplicate id within memory descriptor."; |
| return false; |
| } |
| overlayIdSet.insert(overlayMemDesc.id); |
| |
| if(overlayMemDesc.verticesCount < 3) { |
| LOG(ERROR) << "Less than 3 vertices."; |
| return false; |
| } |
| |
| if (overlayMemDesc.overlayPrimitive == OverlayPrimitive::TRIANGLES && |
| overlayMemDesc.verticesCount % 3 != 0) { |
| LOG(ERROR) << "Triangles primitive does not have vertices " |
| << "multiple of 3."; |
| return false; |
| } |
| |
| const uint16_t overlayId = *((uint16_t*)(pData + idOffset)); |
| |
| if (overlayId != overlayMemDesc.id) { |
| LOG(ERROR) << "Overlay id mismatch " |
| << overlayId |
| << ", " |
| << overlayMemDesc.id; |
| return false; |
| } |
| |
| idOffset += kIdSize + (kVertexSize * overlayMemDesc.verticesCount); |
| } |
| |
| return true; |
| } |
| |
| // TODO(b/150412555): the overlay related methods are incomplete. |
| Return<SvResult> SurroundView3dSession::updateOverlays( |
| const OverlaysData& overlaysData) { |
| |
| if(!VerifyOverlayData(overlaysData)) { |
| LOG(ERROR) << "VerifyOverlayData failed."; |
| return SvResult::INVALID_ARG; |
| } |
| |
| return SvResult::OK; |
| } |
| |
| Return<void> SurroundView3dSession::projectCameraPointsTo3dSurface( |
| const hidl_vec<Point2dInt>& cameraPoints, |
| const hidl_string& cameraId, |
| projectCameraPointsTo3dSurface_cb _hidl_cb) { |
| |
| vector<Point3dFloat> points3d; |
| bool cameraIdFound = false; |
| for (auto& evsCameraId : mEvsCameraIds) { |
| if (cameraId == evsCameraId) { |
| cameraIdFound = true; |
| LOG(INFO) << "Camera id found."; |
| break; |
| } |
| } |
| |
| if (!cameraIdFound) { |
| LOG(ERROR) << "Camera id not found."; |
| _hidl_cb(points3d); |
| return {}; |
| } |
| |
| for (const auto& cameraPoint : cameraPoints) { |
| Point3dFloat point3d; |
| point3d.isValid = (cameraPoint.x >= 0 |
| && cameraPoint.x < mConfig.width |
| && cameraPoint.y >= 0 |
| && cameraPoint.y < mConfig.height); |
| if (!point3d.isValid) { |
| LOG(WARNING) << "Camera point out of bounds."; |
| } |
| points3d.push_back(point3d); |
| } |
| _hidl_cb(points3d); |
| return {}; |
| } |
| |
| void SurroundView3dSession::generateFrames() { |
| int sequenceId = 0; |
| |
| // TODO(b/150412555): do not use the setViews for frames generation |
| // since there is a discrepancy between the HIDL APIs and core lib APIs. |
| vector<vector<float>> matrix; |
| matrix.resize(4); |
| for (int i=0; i<4; i++) { |
| matrix[i].resize(4); |
| } |
| |
| while(true) { |
| { |
| scoped_lock<mutex> lock(mAccessLock); |
| |
| if (mStreamState != RUNNING) { |
| // Break out of our main thread loop |
| LOG(INFO) << "StreamState does not equal to RUNNING. " |
| << "Exiting the loop"; |
| break; |
| } |
| |
| if (mOutputWidth != mConfig.width |
| || mOutputHeight != mConfig.height) { |
| LOG(DEBUG) << "Config changed. Re-allocate memory. " |
| << "Old width: " |
| << mOutputWidth |
| << ", old height: " |
| << mOutputHeight |
| << "; New width: " |
| << mConfig.width |
| << ", new height: " |
| << mConfig.height; |
| delete[] static_cast<char*>(mOutputPointer.data_pointer); |
| mOutputWidth = mConfig.width; |
| mOutputHeight = mConfig.height; |
| mOutputPointer.height = mOutputHeight; |
| mOutputPointer.width = mOutputWidth; |
| mOutputPointer.format = Format::RGBA; |
| mOutputPointer.data_pointer = |
| new char[mOutputHeight * mOutputWidth * kNumChannels]; |
| |
| if (!mOutputPointer.data_pointer) { |
| LOG(ERROR) << "Memory allocation failed. Exiting."; |
| break; |
| } |
| |
| Size2dInteger size = Size2dInteger(mOutputWidth, mOutputHeight); |
| mSurroundView->Update3dOutputResolution(size); |
| |
| mSvTexture = new GraphicBuffer(mOutputWidth, |
| mOutputHeight, |
| HAL_PIXEL_FORMAT_RGBA_8888, |
| 1, |
| GRALLOC_USAGE_HW_TEXTURE, |
| "SvTexture"); |
| if (mSvTexture->initCheck() == OK) { |
| LOG(INFO) << "Successfully allocated Graphic Buffer"; |
| } else { |
| LOG(ERROR) << "Failed to allocate Graphic Buffer"; |
| break; |
| } |
| } |
| } |
| |
| // TODO(b/150412555): use hard-coded views for now. Change view every 10 |
| // frames. |
| int recViewId = sequenceId / 10 % 16; |
| for (int i=0; i<4; i++) |
| for (int j=0; j<4; j++) { |
| matrix[i][j] = kRecViews[recViewId][i*4+j]; |
| } |
| |
| if (mSurroundView->Get3dSurroundView( |
| mInputPointers, matrix, &mOutputPointer)) { |
| LOG(INFO) << "Get3dSurroundView succeeded"; |
| } else { |
| LOG(ERROR) << "Get3dSurroundView failed. " |
| << "Using memset to initialize to gray."; |
| memset(mOutputPointer.data_pointer, kGrayColor, |
| mOutputHeight * mOutputWidth * kNumChannels); |
| } |
| |
| void* textureDataPtr = nullptr; |
| mSvTexture->lock(GRALLOC_USAGE_SW_WRITE_OFTEN |
| | GRALLOC_USAGE_SW_READ_NEVER, |
| &textureDataPtr); |
| if (!textureDataPtr) { |
| LOG(ERROR) << "Failed to gain write access to GraphicBuffer!"; |
| break; |
| } |
| |
| // Note: there is a chance that the stride of the texture is not the |
| // same as the width. For example, when the input frame is 1920 * 1080, |
| // the width is 1080, but the stride is 2048. So we'd better copy the |
| // data line by line, instead of single memcpy. |
| uint8_t* writePtr = static_cast<uint8_t*>(textureDataPtr); |
| uint8_t* readPtr = static_cast<uint8_t*>(mOutputPointer.data_pointer); |
| const int readStride = mOutputWidth * kNumChannels; |
| const int writeStride = mSvTexture->getStride() * kNumChannels; |
| if (readStride == writeStride) { |
| memcpy(writePtr, readPtr, readStride * mSvTexture->getHeight()); |
| } else { |
| for (int i=0; i<mSvTexture->getHeight(); i++) { |
| memcpy(writePtr, readPtr, readStride); |
| writePtr = writePtr + writeStride; |
| readPtr = readPtr + readStride; |
| } |
| } |
| LOG(INFO) << "memcpy finished!"; |
| mSvTexture->unlock(); |
| |
| ANativeWindowBuffer* buffer = mSvTexture->getNativeBuffer(); |
| LOG(DEBUG) << "ANativeWindowBuffer->handle: " << buffer->handle; |
| |
| framesRecord.frames.svBuffers.resize(1); |
| SvBuffer& svBuffer = framesRecord.frames.svBuffers[0]; |
| svBuffer.viewId = 0; |
| svBuffer.hardwareBuffer.nativeHandle = buffer->handle; |
| AHardwareBuffer_Desc* pDesc = |
| reinterpret_cast<AHardwareBuffer_Desc *>( |
| &svBuffer.hardwareBuffer.description); |
| pDesc->width = mOutputWidth; |
| pDesc->height = mOutputHeight; |
| pDesc->layers = 1; |
| pDesc->usage = GRALLOC_USAGE_HW_TEXTURE; |
| pDesc->stride = mSvTexture->getStride(); |
| pDesc->format = HAL_PIXEL_FORMAT_RGBA_8888; |
| framesRecord.frames.timestampNs = elapsedRealtimeNano(); |
| framesRecord.frames.sequenceId = sequenceId++; |
| |
| { |
| scoped_lock<mutex> lock(mAccessLock); |
| |
| if (framesRecord.inUse) { |
| LOG(DEBUG) << "Notify SvEvent::FRAME_DROPPED"; |
| mStream->notify(SvEvent::FRAME_DROPPED); |
| } else { |
| framesRecord.inUse = true; |
| mStream->receiveFrames(framesRecord.frames); |
| } |
| } |
| } |
| |
| // If we've been asked to stop, send an event to signal the actual end of stream |
| LOG(DEBUG) << "Notify SvEvent::STREAM_STOPPED"; |
| mStream->notify(SvEvent::STREAM_STOPPED); |
| } |
| |
| bool SurroundView3dSession::initialize() { |
| lock_guard<mutex> lock(mAccessLock, adopt_lock); |
| |
| // TODO(b/150412555): ask core-lib team to add API description for "create" |
| // method in the .h file. |
| // The create method will never return a null pointer based the API |
| // description. |
| mSurroundView = unique_ptr<SurroundView>(Create()); |
| |
| mSurroundView->SetStaticData(GetCameras(), Get2dParams(), Get3dParams(), |
| GetUndistortionScales(), GetBoundingBox()); |
| |
| // TODO(b/150412555): remove after EVS camera is used |
| mInputPointers = mSurroundView->ReadImages( |
| "/etc/automotive/sv/cam0.png", |
| "/etc/automotive/sv/cam1.png", |
| "/etc/automotive/sv/cam2.png", |
| "/etc/automotive/sv/cam3.png"); |
| if (mInputPointers.size() == 4 |
| && mInputPointers[0].cpu_data_pointer != nullptr) { |
| LOG(INFO) << "ReadImages succeeded"; |
| } else { |
| LOG(ERROR) << "Failed to read images"; |
| return false; |
| } |
| |
| mOutputWidth = Get3dParams().resolution.width; |
| mOutputHeight = Get3dParams().resolution.height; |
| |
| mConfig.width = mOutputWidth; |
| mConfig.height = mOutputHeight; |
| mConfig.carDetails = SvQuality::HIGH; |
| |
| mOutputPointer.height = mOutputHeight; |
| mOutputPointer.width = mOutputWidth; |
| mOutputPointer.format = Format::RGBA; |
| mOutputPointer.data_pointer = new char[ |
| mOutputHeight * mOutputWidth * kNumChannels]; |
| |
| if (!mOutputPointer.data_pointer) { |
| LOG(ERROR) << "Memory allocation failed. Exiting."; |
| return false; |
| } |
| |
| mSvTexture = new GraphicBuffer(mOutputWidth, |
| mOutputHeight, |
| HAL_PIXEL_FORMAT_RGBA_8888, |
| 1, |
| GRALLOC_USAGE_HW_TEXTURE, |
| "SvTexture"); |
| |
| if (mSvTexture->initCheck() == OK) { |
| LOG(INFO) << "Successfully allocated Graphic Buffer"; |
| } else { |
| LOG(ERROR) << "Failed to allocate Graphic Buffer"; |
| return false; |
| } |
| |
| if (mSurroundView->Start3dPipeline()) { |
| LOG(INFO) << "Start3dPipeline succeeded"; |
| } else { |
| LOG(ERROR) << "Start3dPipeline failed"; |
| return false; |
| } |
| |
| mIsInitialized = true; |
| return true; |
| } |
| |
| } // namespace implementation |
| } // namespace V1_0 |
| } // namespace sv |
| } // namespace automotive |
| } // namespace hardware |
| } // namespace android |
| |