/*
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* remap_backend.cpp - The backend hardware/software to do remap
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*
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* Copyright (c) 2021 Rockchip Electronics Co., Ltd.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Author: Cody Xie <cody.xie@rock-chips.com>
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*/
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#include "remap_backend.h"
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#include <algorithm>
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#include <cassert>
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#include <cstring>
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#include <fstream>
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#include <iostream>
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#include "dvs_app.h"
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#include "xcam_log.h"
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namespace RkCam {
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constexpr static const uint8_t fec_mesh_skipped = 3;
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constexpr static const uint8_t fec_mesh_hold_by_algo = 2;
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constexpr static const uint8_t fec_hw_mesh_used_by_hardware = 1;
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constexpr static const uint8_t fec_mesh_available = 0;
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static void ReadBinary(const std::string& path, void* buf, size_t size) {
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std::ifstream ifs(path, std::ios::binary);
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if (!ifs.is_open()) {
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LOGE_AEIS("Failed to open file %s", path.c_str());
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return;
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} else {
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ifs.read(reinterpret_cast<char*>(buf), size);
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}
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}
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static void WriteBinary(const std::string& path, void* buf, size_t size) {
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std::ofstream ofs(path, std::ios::binary);
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if (!ofs.is_open()) {
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LOGE_AEIS("Failed to open file %s", path.c_str());
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return;
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} else {
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ofs.write(reinterpret_cast<char*>(buf), size);
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}
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}
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FecRemapBackend::FecRemapBackend(const FecMeshConfig& config,
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const isp_drv_share_mem_ops_t* mem_ops)
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: config_(config),
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mem_ops_(mem_ops),
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user_buffer_index_(-1),
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hw_buffer_index_(-1),
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last_result_id_(-1) {
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assert(mem_ops != nullptr);
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ImportHwBuffers();
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}
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FecRemapBackend::~FecRemapBackend() { ReleaseHwBuffers(); }
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FecMeshBuffer* FecRemapBackend::AllocUserBuffer() {
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FecMeshBuffer* buf = new FecMeshBuffer();
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assert(buf != nullptr);
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buf->Fd = -1;
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buf->Size = config_.MeshSize * (sizeof(*buf->MeshXi) + sizeof(*buf->MeshXf) +
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sizeof(*buf->MeshYi) + sizeof(*buf->MeshYf));
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buf->UserPtr = calloc(1, buf->Size + 1);
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if (!buf->UserPtr) {
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delete buf;
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return nullptr;
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}
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buf->MeshXi = reinterpret_cast<unsigned short*>(buf->UserPtr);
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buf->MeshYi = buf->MeshXi + config_.MeshSize;
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buf->MeshXf = reinterpret_cast<unsigned char*>(buf->MeshYi + config_.MeshSize);
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buf->MeshYf = buf->MeshXf + config_.MeshSize;
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buf->State = reinterpret_cast<char*>(buf->UserPtr) + buf->Size;
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buf->State[0] = fec_mesh_hold_by_algo;
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buf->Index = ++user_buffer_index_;
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std::unique_lock<std::mutex> lk(user_mtx_);
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user_buffers_.emplace_back(buf);
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return buf;
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}
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void FecRemapBackend::FreeUserBuffer(FecMeshBuffer* buf) {
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assert(buf != nullptr && buf->Fd == -1);
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std::unique_lock<std::mutex> lk(user_mtx_);
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auto it = std::remove_if(
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user_buffers_.begin(), user_buffers_.end(),
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[this, &buf](const std::unique_ptr<FecMeshBuffer>& p) { return (buf->Index == p->Index); });
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user_buffers_.erase(it, user_buffers_.end());
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}
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FecMeshBuffer* FecRemapBackend::GetAvailUserBuffer() {
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std::unique_lock<std::mutex> lk(user_mtx_);
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for (auto it = user_buffers_.begin(); it != user_buffers_.end(); it++) {
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if ((*it)->State[0] == fec_mesh_available) {
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(*it)->State[0] = fec_mesh_hold_by_algo;
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return (*it).get();
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}
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}
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return nullptr;
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}
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void FecRemapBackend::ImportHwBuffers() {
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assert(mem_ops_ != nullptr);
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rk_aiq_share_mem_config_t hw_config_;
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hw_config_.mem_type = MEM_TYPE_FEC;
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hw_config_.alloc_param.width = config_.Width;
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hw_config_.alloc_param.height = config_.Height;
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hw_config_.alloc_param.reserved[0] = config_.MeshDensity;
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mem_ops_->alloc_mem((void*)mem_ops_, &hw_config_, &mem_ctx_);
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}
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void FecRemapBackend::ReleaseHwBuffers() {
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if (mem_ctx_ && mem_ops_) mem_ops_->release_mem(mem_ctx_);
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}
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FecMeshBuffer* FecRemapBackend::GetFreeHwBuffer() {
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if (mem_ops_ == nullptr || mem_ctx_ == nullptr) {
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return nullptr;
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}
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const auto mem_info =
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reinterpret_cast<rk_aiq_fec_share_mem_info_t*>(mem_ops_->get_free_item(mem_ctx_));
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if (mem_info != nullptr) {
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return new FecMeshBuffer(mem_info);
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}
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return nullptr;
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}
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void FecRemapBackend::GetMeshFromFile(MeshBuffer* info) {
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FecMeshBuffer* buf = reinterpret_cast<FecMeshBuffer*>(info);
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ReadBinary("/data/meshxi.bin", buf->MeshXi, sizeof(*buf->MeshXi) * config_.MeshSize);
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ReadBinary("/data/meshxf.bin", buf->MeshXf, sizeof(*buf->MeshXf) * config_.MeshSize);
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ReadBinary("/data/meshyi.bin", buf->MeshYi, sizeof(*buf->MeshYi) * config_.MeshSize);
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ReadBinary("/data/meshyf.bin", buf->MeshYf, sizeof(*buf->MeshYf) * config_.MeshSize);
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}
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void FecRemapBackend::WriteMeshToFile(MeshBuffer* info) {
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FecMeshBuffer* buf = reinterpret_cast<FecMeshBuffer*>(info);
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std::string path = "/data/dvs_mesh_";
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path.append(std::to_string(buf->Fd));
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std::string pathxi = path;
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pathxi.append("_xi.bin");
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WriteBinary(pathxi, buf->MeshXi, sizeof(*buf->MeshXi) * config_.MeshSize);
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std::string pathxf = path;
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pathxf.append("_xf.bin");
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WriteBinary(pathxf, buf->MeshXf, sizeof(*buf->MeshXf) * config_.MeshSize);
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std::string pathyi = path;
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pathyi.append("_yi.bin");
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WriteBinary(pathyi, buf->MeshYi, sizeof(*buf->MeshYi) * config_.MeshSize);
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std::string pathyf = path;
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pathyf.append("_yf.bin");
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WriteBinary(pathyf, buf->MeshYf, sizeof(*buf->MeshYf) * config_.MeshSize);
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}
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void FecRemapBackend::Remap(meshxyFEC* mesh) {
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std::unique_lock<std::mutex> lk(user_mtx_);
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auto it = std::find_if(user_buffers_.begin(), user_buffers_.end(),
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[&mesh](const std::unique_ptr<FecMeshBuffer>& buf) {
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return buf->Index == (size_t)mesh->mesh_buffer_index;
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});
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if (it != user_buffers_.end()) {
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(*it)->ImageBufferIndex = mesh->image_buffer_index;
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(*it)->FrameId = mesh->image_index;
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if (mesh->is_skip) {
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(*it)->State[0] = fec_mesh_skipped;
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} else {
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(*it)->State[0] = fec_hw_mesh_used_by_hardware;
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}
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}
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}
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// Does not do actual remap, but put result to hardware
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void FecRemapBackend::Remap(MeshBuffer* info) {
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std::unique_lock<std::mutex> lk(user_mtx_);
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auto buf = reinterpret_cast<FecMeshBuffer*>(info);
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buf->State[0] = fec_hw_mesh_used_by_hardware;
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}
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FecMeshBuffer* FecRemapBackend::GetPendingHwResult() {
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FecMeshBuffer* buf = nullptr;
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FecMeshBuffer* hw_buf = nullptr;
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int min_id = INT32_MAX;
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{
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std::unique_lock<std::mutex> lk(user_mtx_);
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std::for_each(user_buffers_.begin(), user_buffers_.end(),
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[&](const std::unique_ptr<FecMeshBuffer>& p) {
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if (p->State[0] == fec_hw_mesh_used_by_hardware ||
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p->State[0] == fec_mesh_skipped) {
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if (p->FrameId != -1 && p->FrameId <= last_result_id_) {
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LOGW_AEIS("Get pending result id %d PASSED !!!", p->FrameId);
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p->State[0] = fec_mesh_available;
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} else if (last_result_id_ != -1 && p->FrameId - last_result_id_ > 1) {
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LOGV_AEIS("pending result id %d in FUTURE!!!", p->FrameId);
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} else {
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if (min_id >= p->FrameId) {
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min_id = p->FrameId;
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buf = p.get();
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}
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}
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}
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});
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}
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LOGV_AEIS("Get Pending result min id %d", min_id);
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if (buf != nullptr) {
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if (buf->State[0] == fec_mesh_skipped) {
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LOGW_AEIS("Get pending result id %d SKIPPED ...", buf->FrameId);
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auto* mesh = AllocUserBuffer();
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if (mesh != nullptr) {
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mesh->Fd = -1;
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mesh->FrameId = buf->FrameId;
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mesh->ImageBufferIndex = buf->ImageBufferIndex;
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mesh->ImageBufferSize = buf->ImageBufferSize;
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mesh->State[0] = fec_hw_mesh_used_by_hardware;
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std::unique_lock<std::mutex> lk(user_mtx_);
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buf->State[0] = fec_mesh_available;
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last_result_id_ = buf->FrameId;
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}
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return mesh;
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} else {
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hw_buf = GetFreeHwBuffer();
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if (hw_buf != nullptr) {
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LOGD_AEIS("Get pending result id %d HW ", buf->FrameId);
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memcpy(hw_buf->MeshXi, buf->MeshXi, (sizeof(*buf->MeshXi) * config_.MeshSize));
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memcpy(hw_buf->MeshYi, buf->MeshYi, (sizeof(*buf->MeshYi) * config_.MeshSize));
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memcpy(hw_buf->MeshXf, buf->MeshXf, (sizeof(*buf->MeshXf) * config_.MeshSize));
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memcpy(hw_buf->MeshYf, buf->MeshYf, (sizeof(*buf->MeshYf) * config_.MeshSize));
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hw_buf->FrameId = buf->FrameId;
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hw_buf->ImageBufferIndex = buf->ImageBufferIndex;
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hw_buf->ImageBufferSize = buf->ImageBufferSize;
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hw_buf->State[0] = fec_hw_mesh_used_by_hardware;
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std::unique_lock<std::mutex> lk(user_mtx_);
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buf->State[0] = fec_mesh_available;
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last_result_id_ = buf->FrameId;
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} else {
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LOGW_AEIS("Get pending result id %d HW no buffer", buf->FrameId);
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}
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return hw_buf;
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}
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}
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return nullptr;
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}
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} // namespace RkCam
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