remove that too

selfdrive/camerad/cameras/camera_replay.cc

@@ -1,124 +0,0 @@
-#include "selfdrive/camerad/cameras/camera_replay.h"
-
-#include <cassert>
-#include <thread>
-
-#include "common/clutil.h"
-#include "common/util.h"
-
-extern ExitHandler do_exit;
-
-void camera_autoexposure(CameraState *s, float grey_frac) {}
-
-namespace {
-
-const char *BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/";
-
-const std::string road_camera_route = "0c94aa1e1296d7c6|2021-05-05--19-48-37";
-// const std::string driver_camera_route = "534ccd8a0950a00c|2021-06-08--12-15-37";
-
-std::string get_url(std::string route_name, const std::string &camera, int segment_num) {
-  std::replace(route_name.begin(), route_name.end(), '|', '/');
-  return util::string_format("%s%s/%d/%s.hevc", BASE_URL, route_name.c_str(), segment_num, camera.c_str());
-}
-
-void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, const std::string &url) {
-  s->frame = new FrameReader();
-  if (!s->frame->load(url)) {
-    printf("failed to load stream from %s", url.c_str());
-    assert(0);
-  }
-
-  CameraInfo ci = {
-      .frame_width = (uint32_t)s->frame->width,
-      .frame_height = (uint32_t)s->frame->height,
-      .frame_stride = (uint32_t)s->frame->width * 3,
-  };
-  s->ci = ci;
-  s->camera_num = camera_id;
-  s->fps = fps;
-  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
-}
-
-void camera_close(CameraState *s) {
-  delete s->frame;
-}
-
-void run_camera(CameraState *s) {
-  uint32_t stream_frame_id = 0, frame_id = 0;
-  size_t buf_idx = 0;
-  std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(s->frame->getYUVSize());
-  while (!do_exit) {
-    if (stream_frame_id == s->frame->getFrameCount()) {
-      // loop stream
-      stream_frame_id = 0;
-    }
-    if (s->frame->get(stream_frame_id++, yuv_buf.get())) {
-      s->buf.camera_bufs_metadata[buf_idx] = {.frame_id = frame_id};
-      auto &buf = s->buf.camera_bufs[buf_idx];
-      CL_CHECK(clEnqueueWriteBuffer(buf.copy_q, buf.buf_cl, CL_TRUE, 0, s->frame->getYUVSize(), yuv_buf.get(), 0, NULL, NULL));
-      s->buf.queue(buf_idx);
-      ++frame_id;
-      buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
-    }
-    util::sleep_for(1000 / s->fps);
-  }
-}
-
-void road_camera_thread(CameraState *s) {
-  util::set_thread_name("replay_road_camera_thread");
-  run_camera(s);
-}
-
-// void driver_camera_thread(CameraState *s) {
-//   util::set_thread_name("replay_driver_camera_thread");
-//   run_camera(s);
-// }
-
-void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  const CameraBuf *b = &c->buf;
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initRoadCameraState();
-  fill_frame_data(framed, b->cur_frame_data);
-  framed.setImage(kj::arrayPtr((const uint8_t *)b->cur_yuv_buf->addr, b->cur_yuv_buf->len));
-  framed.setTransform(b->yuv_transform.v);
-  s->pm->send("roadCameraState", msg);
-}
-
-// void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-//   MessageBuilder msg;
-//   auto framed = msg.initEvent().initDriverCameraState();
-//   framed.setFrameType(cereal::FrameData::FrameType::FRONT);
-//   fill_frame_data(framed, c->buf.cur_frame_data);
-//   s->pm->send("driverCameraState", msg);
-// }
-
-}  // namespace
-
-void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
-              VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, get_url(road_camera_route, "fcamera", 0));
-  // camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
-  //             VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER, get_url(driver_camera_route, "dcamera", 0));
-  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
-}
-
-void cameras_open(MultiCameraState *s) {}
-
-void cameras_close(MultiCameraState *s) {
-  camera_close(&s->road_cam);
-  camera_close(&s->driver_cam);
-  delete s->pm;
-}
-
-void cameras_run(MultiCameraState *s) {
-  std::vector<std::thread> threads;
-  threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  // threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
-  // threads.push_back(std::thread(driver_camera_thread, &s->driver_cam));
-  road_camera_thread(&s->road_cam);
-
-  for (auto &t : threads) t.join();
-
-  cameras_close(s);
-}