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103 lines
2.7 KiB
103 lines
2.7 KiB
#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <signal.h>
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#include <cassert>
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#include "common/visionbuf.h"
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#include "common/visionipc.h"
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#include "common/swaglog.h"
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#include "models/dmonitoring.h"
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#ifndef PATH_MAX
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#include <linux/limits.h>
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#endif
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volatile sig_atomic_t do_exit = 0;
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static void set_do_exit(int sig) {
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do_exit = 1;
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}
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int main(int argc, char **argv) {
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int err;
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set_realtime_priority(1);
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// messaging
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Context *msg_context = Context::create();
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PubSocket *dmonitoring_sock = PubSocket::create(msg_context, "driverState");
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SubSocket *dmonstate_sock = SubSocket::create(msg_context, "dMonitoringState", "127.0.0.1", true);
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assert(dmonstate_sock != NULL);
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// init the models
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DMonitoringModelState dmonitoringmodel;
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dmonitoring_init(&dmonitoringmodel);
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// loop
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VisionStream stream;
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while (!do_exit) {
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VisionStreamBufs buf_info;
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err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, true, &buf_info);
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if (err) {
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printf("visionstream connect fail\n");
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usleep(100000);
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continue;
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}
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LOGW("connected with buffer size: %d", buf_info.buf_len);
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double last = 0;
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int chk_counter = 0;
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while (!do_exit) {
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VIPCBuf *buf;
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VIPCBufExtra extra;
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buf = visionstream_get(&stream, &extra);
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if (buf == NULL) {
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printf("visionstream get failed\n");
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visionstream_destroy(&stream);
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break;
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}
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//printf("frame_id: %d %dx%d\n", extra.frame_id, buf_info.width, buf_info.height);
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if (!dmonitoringmodel.is_rhd_checked) {
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if (chk_counter >= RHD_CHECK_INTERVAL) {
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Message *msg = dmonstate_sock->receive(true);
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if (msg != NULL) {
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auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
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memcpy(amsg.begin(), msg->getData(), msg->getSize());
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capnp::FlatArrayMessageReader cmsg(amsg);
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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dmonitoringmodel.is_rhd = event.getDMonitoringState().getIsRHD();
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dmonitoringmodel.is_rhd_checked = event.getDMonitoringState().getRhdChecked();
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delete msg;
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}
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chk_counter = 0;
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}
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chk_counter += 1;
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}
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double t1 = millis_since_boot();
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DMonitoringResult res = dmonitoring_eval_frame(&dmonitoringmodel, buf->addr, buf_info.width, buf_info.height);
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double t2 = millis_since_boot();
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// send dm packet
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dmonitoring_publish(dmonitoring_sock, extra.frame_id, res);
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LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
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last = t1;
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}
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}
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visionstream_destroy(&stream);
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delete dmonitoring_sock;
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delete msg_context;
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dmonitoring_free(&dmonitoringmodel);
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return 0;
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}
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