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78 lines
2.2 KiB
78 lines
2.2 KiB
#!/usr/bin/env python3
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import threading
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import os
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import platform
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from collections import namedtuple
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from msgq.visionipc import VisionIpcServer, VisionStreamType
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from cereal import messaging
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from openpilot.tools.webcam.camera import Camera
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from openpilot.common.realtime import Ratekeeper
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ROAD_CAM = os.getenv("ROAD_CAM", "0")
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WIDE_CAM = os.getenv("WIDE_CAM")
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DRIVER_CAM = os.getenv("DRIVER_CAM")
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CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
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CAMERAS = [
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CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM)
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]
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if WIDE_CAM:
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CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
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if DRIVER_CAM:
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CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM))
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class Camerad:
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def __init__(self):
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self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS])
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self.vipc_server = VisionIpcServer("camerad")
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self.cameras = []
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for c in CAMERAS:
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cam_device = f"/dev/video{c.cam_id}" if platform.system() != "Darwin" else c.cam_id
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cam = Camera(c.msg_name, c.stream_type, cam_device)
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self.cameras.append(cam)
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self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
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self.vipc_server.start_listener()
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def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
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eof = int(frame_id * 0.05 * 1e9)
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self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
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dat = messaging.new_message(pub_type, valid=True)
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msg = {
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"frameId": frame_id,
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"transform": [1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0]
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}
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setattr(dat, pub_type, msg)
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self.pm.send(pub_type, dat)
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def camera_runner(self, cam):
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rk = Ratekeeper(20, None)
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for yuv in cam.read_frames():
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self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
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cam.cur_frame_id += 1
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rk.keep_time()
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def run(self):
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threads = []
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for cam in self.cameras:
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cam_thread = threading.Thread(target=self.camera_runner, args=(cam,))
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cam_thread.start()
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threads.append(cam_thread)
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for t in threads:
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t.join()
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def main():
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camerad = Camerad()
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camerad.run()
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if __name__ == "__main__":
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main()
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