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41 lines
1.1 KiB
41 lines
1.1 KiB
#pragma once
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#include <unistd.h>
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#include "cereal/visionipc/visionipc_server.h"
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#include "selfdrive/common/queue.h"
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#include "selfdrive/ui/replay/framereader.h"
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#include "selfdrive/ui/replay/logreader.h"
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class CameraServer {
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public:
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CameraServer();
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~CameraServer();
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inline void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx) {
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queue_.push({type, fr, eidx});
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}
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inline void waitFinish() {
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while (!queue_.empty()) usleep(0);
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}
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protected:
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void startVipcServer();
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void thread();
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struct Camera {
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VisionStreamType rgb_type;
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VisionStreamType yuv_type;
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int width;
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int height;
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};
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Camera cameras_[MAX_CAMERAS] = {
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{.rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_YUV_BACK},
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{.rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
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{.rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
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};
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cl_device_id device_id_;
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cl_context context_;
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std::thread camera_thread_;
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std::unique_ptr<VisionIpcServer> vipc_server_;
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SafeQueue<std::tuple<CameraType, FrameReader*, const cereal::EncodeIndex::Reader>> queue_;
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};
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