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66 lines
1.5 KiB
66 lines
1.5 KiB
#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <cassert>
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#include <sys/resource.h>
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#include "visionbuf.h"
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#include "visionipc_client.h"
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#include "common/swaglog.h"
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#include "common/util.h"
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#include "models/dmonitoring.h"
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#ifndef PATH_MAX
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#include <linux/limits.h>
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#endif
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ExitHandler do_exit;
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int main(int argc, char **argv) {
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setpriority(PRIO_PROCESS, 0, -15);
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PubMaster pm({"driverState"});
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// init the models
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DMonitoringModelState dmonitoringmodel;
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dmonitoring_init(&dmonitoringmodel);
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VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_YUV_FRONT, true);
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while (!do_exit){
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if (!vipc_client.connect(false)){
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util::sleep_for(100);
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continue;
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}
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break;
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}
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while (!do_exit) {
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LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
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double last = 0;
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while (!do_exit) {
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VisionIpcBufExtra extra = {0};
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VisionBuf *buf = vipc_client.recv(&extra);
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if (buf == nullptr){
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continue;
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}
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double t1 = millis_since_boot();
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DMonitoringResult res = dmonitoring_eval_frame(&dmonitoringmodel, buf->addr, buf->width, buf->height);
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double t2 = millis_since_boot();
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// send dm packet
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const float* raw_pred_ptr = send_raw_pred ? (const float *)dmonitoringmodel.output : nullptr;
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dmonitoring_publish(pm, extra.frame_id, res, raw_pred_ptr, (t2-t1)/1000.0);
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LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
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last = t1;
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}
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}
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dmonitoring_free(&dmonitoringmodel);
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return 0;
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}
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