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93 lines
2.1 KiB
93 lines
2.1 KiB
#!/usr/bin/env python3
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import os
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from cffi import FFI
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import numpy as np
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gf_dir = os.path.dirname(os.path.abspath(__file__))
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ffi = FFI()
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ffi.cdef("""
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typedef enum VisionStreamType {
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VISION_STREAM_RGB_BACK,
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VISION_STREAM_RGB_FRONT,
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VISION_STREAM_YUV,
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VISION_STREAM_YUV_FRONT,
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VISION_STREAM_MAX,
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} VisionStreamType;
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typedef struct VisionUIInfo {
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int big_box_x, big_box_y;
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int big_box_width, big_box_height;
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int transformed_width, transformed_height;
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int front_box_x, front_box_y;
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int front_box_width, front_box_height;
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} VisionUIInfo;
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typedef struct VisionStreamBufs {
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VisionStreamType type;
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int width, height, stride;
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size_t buf_len;
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union {
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VisionUIInfo ui_info;
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} buf_info;
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} VisionStreamBufs;
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typedef struct VIPCBuf {
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int fd;
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size_t len;
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void* addr;
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} VIPCBuf;
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typedef struct VIPCBufExtra {
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// only for yuv
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uint32_t frame_id;
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uint64_t timestamp_eof;
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} VIPCBufExtra;
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typedef struct VisionStream {
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int ipc_fd;
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int last_idx;
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int last_type;
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int num_bufs;
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VisionStreamBufs bufs_info;
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VIPCBuf *bufs;
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} VisionStream;
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int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
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VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
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void visionstream_destroy(VisionStream *s);
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"""
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)
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class VisionIPCError(Exception):
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pass
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class VisionIPC():
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def __init__(self, front=False):
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self.clib = ffi.dlopen(os.path.join(gf_dir, "libvisionipc.so"))
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self.s = ffi.new("VisionStream*")
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self.buf_info = ffi.new("VisionStreamBufs*")
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err = self.clib.visionstream_init(self.s, self.clib.VISION_STREAM_RGB_FRONT if front else self.clib.VISION_STREAM_RGB_BACK, True, self.buf_info)
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if err != 0:
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self.clib.visionstream_destroy(self.s)
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raise VisionIPCError
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def __del__(self):
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self.clib.visionstream_destroy(self.s)
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def get(self):
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buf = self.clib.visionstream_get(self.s, ffi.NULL)
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pbuf = ffi.buffer(buf.addr, buf.len)
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ret = np.frombuffer(pbuf, dtype=np.uint8).reshape((-1, self.buf_info.stride//3, 3))
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return ret[:self.buf_info.height, :self.buf_info.width, [2, 1, 0]]
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