43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
#pragma once
|
|
#include <vector>
|
|
#include <string>
|
|
#include <thread>
|
|
#include <atomic>
|
|
#include <map>
|
|
|
|
#include "messaging/messaging.h"
|
|
#include "visionipc/visionipc.h"
|
|
#include "visionipc/visionbuf.h"
|
|
|
|
std::string get_endpoint_name(std::string name, VisionStreamType type);
|
|
|
|
class VisionIpcServer {
|
|
private:
|
|
cl_device_id device_id = nullptr;
|
|
cl_context ctx = nullptr;
|
|
uint64_t server_id;
|
|
|
|
std::atomic<bool> should_exit = false;
|
|
std::string name;
|
|
std::thread listener_thread;
|
|
|
|
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
|
|
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
|
|
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
|
|
|
|
Context * msg_ctx;
|
|
std::map<VisionStreamType, PubSocket*> sockets;
|
|
|
|
void listener(void);
|
|
|
|
public:
|
|
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
|
~VisionIpcServer();
|
|
|
|
VisionBuf * get_buffer(VisionStreamType type);
|
|
|
|
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
|
|
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
|
|
void start_listener();
|
|
};
|