openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

59 lines
1.3 KiB

#pragma once
#include <unistd.h>
#include <atomic>
#include <condition_variable>
#include <mutex>
#include <queue>
#include <string>
#include <thread>
#include <vector>
// independent of QT, needs ffmpeg
extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libswscale/swscale.h>
}
class FrameReader {
public:
FrameReader(const std::string &url, int timeout_sec = 0);
~FrameReader();
bool process();
uint8_t *get(int idx);
int getRGBSize() const { return width * height * 3; }
size_t getFrameCount() const { return frames_.size(); }
bool valid() const { return valid_; }
int width = 0, height = 0;
private:
void decodeThread();
uint8_t *decodeFrame(AVPacket *pkt);
static int check_interrupt(void *p);
struct Frame {
AVPacket pkt = {};
uint8_t *data = nullptr;
bool failed = false;
};
std::vector<Frame> frames_;
AVFormatContext *pFormatCtx_ = nullptr;
AVCodecContext *pCodecCtx_ = nullptr;
AVFrame *frmRgb_ = nullptr;
std::queue<uint8_t *> buffer_pool;
struct SwsContext *sws_ctx_ = nullptr;
std::mutex mutex_;
std::condition_variable cv_decode_;
std::condition_variable cv_frame_;
int decode_idx_ = 0;
std::atomic<bool> exit_ = false;
bool valid_ = false;
std::string url_;
std::thread decode_thread_;
int timeout_ = 0;
double timeout_ms_ = 0;
};