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| enum { | ||
| LK_ARGUS_OK = 0, | ||
| /* Invalid arguments crossed the FFI boundary (caller bug). */ | ||
| LK_ARGUS_ERR_INVALID_ARG = -1, |
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It makes sense for error-codes, but typically I don't see negative values used for enums like this (I'm not a C developer so maybe it's common there)
| #define LK_ARGUS_MAX_DMA_BUFS 16 | ||
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| /* Status codes. 0 is success; negative values are errors. */ | ||
| enum { |
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enum class is a little more modern. This code looks like C though which doesn't have that, but the .cpp has lots of C++ in it, so a bit puzzled
| #if defined(__GNUC__) | ||
| __attribute__((format(printf, 2, 3))) | ||
| #endif | ||
| void lk_log(int32_t level, const char* fmt, ...) { |
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Do we actually need another logger vs. just a std::cout/cerr or fprintf? This one is simple enough, just clarifying
| // C shim around NVIDIA libargus for MIPI CSI camera capture on Jetson. | ||
| // See lk_argus.h for the ABI and the thread-safety contract. | ||
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| #include "lk_argus.h" | ||
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| #include <atomic> | ||
| #include <chrono> | ||
| #include <cstdarg> | ||
| #include <cstdio> | ||
| #include <cstring> | ||
| #include <mutex> | ||
| #include <thread> | ||
| #include <vector> |
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Says C shim but lots of C++ in here
| return LK_ARGUS_OK; | ||
| } | ||
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| void lk_argus_session_destroy(LkArgusSession* s) { |
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From AI-pairing, take with grain of salt:
P1: lk_argus_session_destroy can delete s while another thread is blocked in lk_argus_frame_acquire; when acquireFrame returns, that function continues dereferencing s. This contradicts the documented “interrupts any pending acquire” shutdown behavior and is a use-after-free. Please add an in-flight-operation count plus condition variable (destroy sets interrupted, stops capture, then waits for acquire/copy operations to exit before freeing surfaces and s), or change the API contract to require callers to interrupt and join the acquisition thread before destruction.
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Add a
libargus-syscrate with bindings to the NVIDIA Jetson libargus camera API.Closes BOT-553