merging branches

SConstruct

@@ -16,8 +16,11 @@ is_tbp = os.path.isfile('/data/tinkla_buddy_pro')
 if platform.system() == "Darwin":
   arch = "Darwin"
 
+webcam = bool(ARGUMENTS.get("use_webcam", 0))
+
 if arch == "aarch64":
   if is_tbp:
+    webcam=True
     lenv = {
       "LD_LIBRARY_PATH": '/usr/lib',
       "PATH": os.environ['PATH'],
@@ -47,28 +50,32 @@ if arch == "aarch64":
   ]
 
   if is_tbp:
-    cflags = ["-mcpu=cortex-a57"]
-    cxxflags = ["-mcpu=cortex-a57"]
+    cflags = []
+    cxxflags = []
     cpppath = [
-      "#phonelibs/opencl/include",
-      "/data/op_rk3399_setup/support_files/include",
-      "/data/op_rk3399_setup/external/snpe/include",
+      "/usr/local/include",
+      "/usr/local/include/opencv4",
+      "/usr/include/khronos-api",
+      "/usr/include",
+      "#phonelibs/snpe/include",
+      "/usr/include/aarch64-linux-gnu",
     ]
     libpath = [
-      "/data/op_rk3399_setup/external/snpe/lib/lib",
+      "/usr/local/lib",
+      "/usr/lib/aarch64-linux-gnu",
       "/usr/lib",
+      "/data/op_rk3399_setup/external/snpe/lib/lib",
       "/data/data/com.termux/files/usr/lib",
-      "/system/vendor/lib64",
-      "/system/comma/usr/lib",
       "#phonelibs/nanovg",
       "/data/op_rk3399_setup/support_files/lib",
     ]
     rpath = ["/system/vendor/lib64",
+      "/usr/local/lib",
+      "/usr/lib/aarch64-linux-gnu",
+      "/usr/lib",
       "/data/op_rk3399_setup/external/snpe/lib/lib",
       "/data/op_rk3399_setup/support_files/lib",
-      "external/tensorflow/lib",
       "cereal",
-      "/usr/lib",
       "selfdrive/common",
     ] 
   else:
@@ -152,7 +159,7 @@ env = Environment(
     "#phonelibs/json11",
     "#phonelibs/eigen",
     "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
+    #"#phonelibs/opencv/include",
     "#phonelibs/libgralloc/include",
     "#phonelibs/android_frameworks_native/include",
     "#phonelibs/android_hardware_libhardware/include",
@@ -211,8 +218,8 @@ def abspath(x):
 
 #zmq = 'zmq'
 # still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED', 'is_tbp')
+zmq = FindFile("libzmq.so", libpath)
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'is_tbp')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])

selfdrive/camerad/SConscript

@@ -1,17 +1,33 @@
-Import('env', 'arch', 'is_tbp', 'messaging', 'common', 'gpucommon', 'visionipc', 'cereal')
+Import('env', 'arch', 'messaging', 'is_tbp', 'common', 'gpucommon', 'visionipc', 'cereal', 'webcam')
 
 libs = ['m', 'pthread', common, 'jpeg', 'json', cereal, 'OpenCL', messaging, 'czmq', 'zmq', 'capnp', 'kj', 'capnp_c', visionipc, gpucommon]
 
+if is_tbp:
+  arch =  "aarch64_TBP"
 if arch == "aarch64":
-  if is_tbp:
+  libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
+  cameras = ['cameras/camera_qcom.c']
+elif arch == "larch64":
+  libs += []
+  cameras = ['cameras/camera_qcom2.c']
+elif arch == "aarch64_TBP":
+    libs += ['opencv_core', 'opencv_highgui', 'opencv_video', 'opencv_imgproc', 'opencv_videoio']
+    cameras = ['cameras/camera_webcam.cc']
+    env = env.Clone()
+    env.Append(CXXFLAGS = '-DWEBCAM')
+    env.Append(CFLAGS = '-DWEBCAM')
+    #env.Append(CPPPATH = '/usr/local/include/opencv4')
+else:
+  if webcam:
+    libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
+    cameras = ['cameras/camera_webcam.cc']
+    env = env.Clone()
+    env.Append(CXXFLAGS = '-DWEBCAM')
+    env.Append(CFLAGS = '-DWEBCAM')
+    env.Append(CPPPATH = '/usr/local/include/opencv4')
+  else:
     libs += []
     cameras = ['cameras/camera_frame_stream.cc']
-  else:
-    libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
-    cameras = ['cameras/camera_qcom.c']
-else:
-  libs += []
-  cameras = ['cameras/camera_frame_stream.cc']
 
 env.SharedLibrary('snapshot/visionipc',
   ["#selfdrive/common/visionipc.c", "#selfdrive/common/ipc.c"])

selfdrive/camerad/cameras/camera_common.h

@@ -10,7 +10,10 @@
 #define CAMERA_ID_OV8865 3
 #define CAMERA_ID_IMX298_FLIPPED 4
 #define CAMERA_ID_OV10640 5
-#define CAMERA_ID_MAX 6
+#define CAMERA_ID_LGC920 6
+#define CAMERA_ID_LGC615 7
+#define CAMERA_ID_AR0231 8
+#define CAMERA_ID_MAX 9
 
 #ifdef __cplusplus
 extern "C" {

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -115,7 +115,7 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
     .frame_width = 1632,
     .frame_height = 1224,
     .frame_stride = 2040, // seems right
-    .bayer = false,
+    .bayer = true,
     .bayer_flip = 3,
     .hdr = false
   },