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87 lines
2.5 KiB
87 lines
2.5 KiB
#include "tools/replay/camera.h"
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#include "tools/replay/util.h"
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#include <cassert>
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CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
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for (int i = 0; i < MAX_CAMERAS; ++i) {
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std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i];
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}
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startVipcServer();
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}
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CameraServer::~CameraServer() {
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for (auto &cam : cameras_) {
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if (cam.thread.joinable()) {
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cam.queue.push({});
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cam.thread.join();
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}
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}
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vipc_server_.reset(nullptr);
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}
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void CameraServer::startVipcServer() {
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vipc_server_.reset(new VisionIpcServer("camerad"));
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for (auto &cam : cameras_) {
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if (cam.width > 0 && cam.height > 0) {
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rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
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vipc_server_->create_buffers(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height);
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if (!cam.thread.joinable()) {
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cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
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}
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}
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}
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vipc_server_->start_listener();
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}
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void CameraServer::cameraThread(Camera &cam) {
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auto read_frame = [&](FrameReader *fr, int frame_id) {
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VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type);
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bool ret = fr->get(frame_id, yuv_buf ? (uint8_t *)yuv_buf->addr : nullptr);
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return ret ? yuv_buf : nullptr;
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};
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while (true) {
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const auto [fr, eidx] = cam.queue.pop();
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if (!fr) break;
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const int id = eidx.getSegmentId();
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bool prefetched = (id == cam.cached_id && eidx.getSegmentNum() == cam.cached_seg);
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auto yuv = prefetched ? cam.cached_buf : read_frame(fr, id);
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if (yuv) {
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VisionIpcBufExtra extra = {
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.frame_id = eidx.getFrameId(),
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.timestamp_sof = eidx.getTimestampSof(),
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.timestamp_eof = eidx.getTimestampEof(),
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};
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vipc_server_->send(yuv, &extra, false);
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} else {
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rError("camera[%d] failed to get frame:", cam.type, eidx.getSegmentId());
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}
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cam.cached_id = id + 1;
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cam.cached_seg = eidx.getSegmentNum();
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cam.cached_buf = read_frame(fr, cam.cached_id);
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--publishing_;
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}
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}
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void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx) {
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auto &cam = cameras_[type];
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if (cam.width != fr->width || cam.height != fr->height) {
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cam.width = fr->width;
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cam.height = fr->height;
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waitForSent();
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startVipcServer();
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}
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++publishing_;
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cam.queue.push({fr, eidx});
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}
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void CameraServer::waitForSent() {
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while (publishing_ > 0) {
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std::this_thread::yield();
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}
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}
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