remove selfdrive/common/visionstream.c (#1931)

old-commit-hash: 681ff41261

selfdrive/common/visionstream.c

@@ -1,124 +0,0 @@
-
-
-int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info) {
-  int err;
-
-  memset(s, 0, sizeof(*s));
-
-  s->last_idx = -1;
-
-  s->ipc_fd = vipc_connect();
-  if (s->ipc_fd < 0) return -1;
-
-  VisionPacket p = {
-    .type = VIPC_STREAM_SUBSCRIBE,
-    .d = { .stream_sub = {
-      .type = type,
-      .tbuffer = tbuffer,
-    }, },
-  };
-  err = vipc_send(s->ipc_fd, &p);
-  if (err < 0) {
-    close(s->ipc_fd);
-    return -1;
-  }
-
-  VisionPacket rp;
-  err = vipc_recv(s->ipc_fd, &rp);
-  if (err <= 0) {
-    close(s->ipc_fd);
-    return -1;
-  }
-  assert(rp.type = VIPC_STREAM_BUFS);
-  assert(rp.d.stream_bufs.type == type);
-
-  s->bufs_info = rp.d.stream_bufs;
-
-  s->num_bufs = rp.num_fds;
-  s->bufs = calloc(s->num_bufs, sizeof(VIPCBuf));
-  assert(s->bufs);
-
-  vipc_bufs_load(s->bufs, &rp.d.stream_bufs, s->num_bufs, rp.fds);
-
-  if (out_bufs_info) {
-    *out_bufs_info = s->bufs_info;
-  }
-
-  return 0;
-}
-
-void visionstream_release(VisionStream *s) {
-  int err;
-  if (s->last_idx >= 0) {
-    VisionPacket rep = {
-      .type = VIPC_STREAM_RELEASE,
-      .d = { .stream_rel = {
-        .type = s->last_type,
-        .idx = s->last_idx,
-      }}
-    };
-    err = vipc_send(s->ipc_fd, &rep);
-    s->last_idx = -1;
-  }
-}
-
-VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
-  int err;
-
-  VisionPacket rp;
-  err = vipc_recv(s->ipc_fd, &rp);
-  if (err <= 0) {
-    return NULL;
-  }
-  assert(rp.type == VIPC_STREAM_ACQUIRE);
-
-  if (s->last_idx >= 0) {
-    VisionPacket rep = {
-      .type = VIPC_STREAM_RELEASE,
-      .d = { .stream_rel = {
-        .type = s->last_type,
-        .idx = s->last_idx,
-      }}
-    };
-    err = vipc_send(s->ipc_fd, &rep);
-    if (err <= 0) {
-      return NULL;
-    }
-  }
-
-  s->last_type = rp.d.stream_acq.type;
-  s->last_idx = rp.d.stream_acq.idx;
-  assert(s->last_idx < s->num_bufs);
-
-  if (out_extra) {
-    *out_extra = rp.d.stream_acq.extra;
-  }
-
-  return &s->bufs[s->last_idx];
-}
-
-void visionstream_destroy(VisionStream *s) {
-  int err;
-
-  if (s->last_idx >= 0) {
-    VisionPacket rep = {
-      .type = VIPC_STREAM_RELEASE,
-      .d = { .stream_rel = {
-        .type = s->last_type,
-        .idx = s->last_idx,
-      }}
-    };
-    err = vipc_send(s->ipc_fd, &rep);
-    s->last_idx = -1;
-  }
-
-  for (int i=0; i<s->num_bufs; i++) {
-    if (s->bufs[i].addr) {
-      munmap(s->bufs[i].addr, s->bufs[i].len);
-      s->bufs[i].addr = NULL;
-      close(s->bufs[i].fd);
-    }
-  }
-  if (s->bufs) free(s->bufs);
-  close(s->ipc_fd);
-}