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72 lines
2.2 KiB
72 lines
2.2 KiB
#include "selfdrive/ui/replay/camera.h"
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#include <cassert>
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#include <iostream>
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const int YUV_BUF_COUNT = 50;
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CameraServer::CameraServer(std::pair<int, int> cameras[MAX_CAMERAS]) {
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if (cameras) {
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for (auto type : ALL_CAMERAS) {
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std::tie(cameras_[type].width, cameras_[type].height) = cameras[type];
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}
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startVipcServer();
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}
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camera_thread_ = std::thread(&CameraServer::thread, this);
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}
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CameraServer::~CameraServer() {
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queue_.push({});
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camera_thread_.join();
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vipc_server_.reset(nullptr);
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}
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void CameraServer::startVipcServer() {
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std::cout << (vipc_server_ ? "restart" : "start") << " vipc server" << std::endl;
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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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vipc_server_->create_buffers(cam.rgb_type, UI_BUF_COUNT, true, cam.width, cam.height);
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vipc_server_->create_buffers(cam.yuv_type, YUV_BUF_COUNT, false, cam.width, cam.height);
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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::thread() {
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while (true) {
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const auto [type, fr, eidx] = queue_.pop();
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if (!fr) break;
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auto &cam = cameras_[type];
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// restart vipc server if new camera incoming.
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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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std::cout << "camera[" << type << "] frame size " << cam.width << "x" << cam.height << std::endl;
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startVipcServer();
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}
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// send frame
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VisionBuf *rgb_buf = vipc_server_->get_buffer(cam.rgb_type);
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VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.yuv_type);
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if (fr->get(eidx.getSegmentId(), (uint8_t *)rgb_buf->addr, (uint8_t *)yuv_buf->addr)) {
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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(rgb_buf, &extra, false);
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vipc_server_->send(yuv_buf, &extra, false);
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} else {
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std::cout << "camera[" << type << "] failed to get frame:" << eidx.getSegmentId() << std::endl;
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}
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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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++publishing_;
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queue_.push({type, fr, eidx});
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}
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