Merge pull request #31 from tier4/feature/support-r36

Sync with the internal repository
tier4 · Jan 14, 2025 · 3637846 · 3637846
2 parents 0511381 + 036945f
commit 3637846
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diff --git a/.editorconfig b/.editorconfig
@@ -0,0 +1,29 @@
+# SPDX-License-Identifier: GPL-2.0-only
+
+root = true
+
+[{*.{awk,c,dts,dtsi,dtso,h,mk,s,S},Kconfig,Makefile,Makefile.*}]
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
+indent_style = tab
+indent_size = 8
+
+[*.{json,py,rs}]
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
+indent_style = space
+indent_size = 4
+
+# this must be below the general *.py to overwrite it
+[tools/{perf,power,rcu,testing/kunit}/**.py,]
+indent_style = tab
+indent_size = 8
+
+[*.yaml]
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
+indent_style = space
+indent_size = 2
diff --git a/.github/workflows/build-drivers-hosted.yaml b/.github/workflows/build-drivers-hosted.yaml
@@ -0,0 +1,19 @@
+name: Build and install camera drivers
+
+on:
+  workflow_call:
+    inputs:
+      platform:
+        required: false
+        type: string
+
+jobs:
+  build-drivers:
+    runs-on: [self-hosted, linux, ARM64, "${{ inputs.platform }}"]
+    timeout-minutes: 5
+    steps:
+      - uses: actions/checkout@v3
+      - name: Build deb package
+        run: cd ./pkg/ && ./create_deb_pkg.sh
+      - name: Install deb package and build drivers with DKMS
+        run: yes Y | sudo dpkg -i *.deb
diff --git a/.github/workflows/camera-hotplug-hosted.yaml b/.github/workflows/camera-hotplug-hosted.yaml
@@ -0,0 +1,52 @@
+name: Hot plug cameras
+
+on:
+  workflow_call:
+    inputs:
+      platform:
+        required: false
+        type: string
+      dt-overlay-options:
+        required: true
+        type: string
+
+jobs:
+  camera-hotplug:
+    runs-on: [self-hosted, linux, ARM64, "${{ inputs.platform }}"]
+    timeout-minutes: 3
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Build dtbocfg
+        run: |
+          cd ./scripts/common/hotplug/dtbocfg/
+          make
+          ls -l ./dtbocfg.ko
+          sudo rmmod dtbocfg || true
+          sudo insmod ./dtbocfg.ko || true
+          lsmod | grep dtbocfg
+      - name: Hotplug
+        run: |
+          ./scripts/common/hotplug/camera-hotplug.sh ${{ inputs.dt-overlay-options }}
+
+  post-hotplug-checks:
+    runs-on: [self-hosted, linux, ARM64, "${{ inputs.platform }}"]
+    needs: camera-hotplug
+    timeout-minutes: 3
+    steps:
+      - run: |
+          find /proc/device-tree/ -name "*isx*" || find /proc/device-tree/ -name "*imx*"
+          find /proc/device-tree/ -name "*max9295*"
+          find /proc/device-tree/ -name "*max9296*"
+          find /proc/device-tree/ -name "*fpga*"
+          ls -l /dev/video*
+          ls -l /dev/v4l-*
+          ls -l /dev/media*
+          ls -l /dev/gmsl/
+          for media_device in $(find /dev/ -type c -name "media*"); do
+            media-ctl -d "${media_device}" -p
+          done
+          for video_device in $(find /dev/ -type c -name "video*"); do
+            v4l2-ctl -d "${video_device}" --all
+          done
diff --git a/.github/workflows/ecu-rqx58g-a.yaml b/.github/workflows/ecu-rqx58g-a.yaml
@@ -0,0 +1,40 @@
+name: ROSCube RQX-58G A C1x8
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-drivers:
+    uses: ./.github/workflows/build-drivers-hosted.yaml
+    with:
+      platform: rqx58g-a
+
+  camera-hotplug:
+    needs: build-drivers
+    uses: ./.github/workflows/camera-hotplug-hosted.yaml
+    with:
+      platform: rqx58g-a
+      dt-overlay-options: roscube R32.6.1 -8 C1
+
+  test-8-cameras:
+    needs: camera-hotplug
+    strategy:
+      matrix:
+        dev-index: [0, 1, 2, 3, 4, 5, 6, 7]
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-a
+      video-device: /dev/video${{ matrix.dev-index }}
+      gstreamer-options: 'video/x-raw, width=1920, height=1280, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c1-${{ matrix.dev-index }}
+
+  unload-camera-drivers:
+    needs: test-8-cameras
+    uses: ./.github/workflows/unload-drivers-hosted.yaml
+    with:
+      platform: rqx58g-a
diff --git a/.github/workflows/ecu-rqx58g-b.yaml b/.github/workflows/ecu-rqx58g-b.yaml
@@ -0,0 +1,40 @@
+name: ROSCube RQX-58G B C2x8
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-drivers:
+    uses: ./.github/workflows/build-drivers-hosted.yaml
+    with:
+      platform: rqx58g-b
+
+  camera-hotplug:
+    needs: build-drivers
+    uses: ./.github/workflows/camera-hotplug-hosted.yaml
+    with:
+      platform: rqx58g-b
+      dt-overlay-options: roscube R32.6.1 -8 C2
+
+  test-8-cameras:
+    needs: camera-hotplug
+    strategy:
+      matrix:
+        dev-index: [0, 1, 2, 3, 4, 5, 6, 7]
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-b
+      video-device: /dev/video${{ matrix.dev-index }}
+      gstreamer-options: 'video/x-raw, width=2880, height=1860, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c2-${{ matrix.dev-index }}
+
+  unload-camera-drivers:
+    needs: test-8-cameras
+    uses: ./.github/workflows/unload-drivers-hosted.yaml
+    with:
+      platform: rqx58g-b
diff --git a/.github/workflows/ecu-rqx58g-c.yaml b/.github/workflows/ecu-rqx58g-c.yaml
@@ -0,0 +1,100 @@
+name: ROSCube RQX-58G C C1x2 C2x2 C1x2 C2x2
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-drivers:
+    uses: ./.github/workflows/build-drivers-hosted.yaml
+    with:
+      platform: rqx58g-c
+
+  camera-hotplug:
+    needs: build-drivers
+    uses: ./.github/workflows/camera-hotplug-hosted.yaml
+    with:
+      platform: rqx58g-c
+      dt-overlay-options: roscube R32.6.1 -2 C1 -2 C2 -2 C1 -2 C2
+
+  test-camera-0:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-isx021-cam1
+      gstreamer-options: 'video/x-raw, width=1920, height=1280, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c1-0
+
+  test-camera-1:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-isx021-cam2
+      gstreamer-options: 'video/x-raw, width=1920, height=1280, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c1-1
+
+  test-camera-2:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-imx490-cam3
+      gstreamer-options: 'video/x-raw, width=2880, height=1860, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c2-2
+
+  test-camera-3:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-imx490-cam4
+      gstreamer-options: 'video/x-raw, width=2880, height=1860, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c2-3
+
+  test-camera-4:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-isx021-cam5
+      gstreamer-options: 'video/x-raw, width=1920, height=1280, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c1-4
+
+  test-camera-5:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-isx021-cam6
+      gstreamer-options: 'video/x-raw, width=1920, height=1280, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c1-5
+
+  test-camera-6:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-imx490-cam7
+      gstreamer-options: 'video/x-raw, width=2880, height=1860, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c2-6
+
+  test-camera-7:
+    needs: camera-hotplug
+    uses: ./.github/workflows/test-v4l2-gstreamer-hosted.yaml
+    with:
+      platform: rqx58g-c
+      video-device: /dev/gmsl/tier4-imx490-cam8
+      gstreamer-options: 'video/x-raw, width=2880, height=1860, framerate=30/1, format=UYVY'
+      artifact-name: gstreamer-v4l2-mjpeg-c2-7
+
+  unload-camera-drivers:
+    needs: [test-camera-0, test-camera-1, test-camera-2, test-camera-3, test-camera-4, test-camera-5, test-camera-6, test-camera-7]
+    uses: ./.github/workflows/unload-drivers-hosted.yaml
+    with:
+      platform: rqx58g-c