43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
#pragma once
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#include <unistd.h>
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#include "cereal/visionipc/visionipc_server.h"
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#include "selfdrive/common/queue.h"
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#include "selfdrive/ui/replay/framereader.h"
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#include "selfdrive/ui/replay/logreader.h"
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class CameraServer {
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public:
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CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr, bool send_yuv = false);
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~CameraServer();
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void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
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inline void waitFinish() {
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while (publishing_ > 0) usleep(0);
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}
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protected:
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struct Camera {
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CameraType type;
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VisionStreamType rgb_type;
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VisionStreamType yuv_type;
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int width;
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int height;
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std::thread thread;
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SafeQueue<std::pair<FrameReader*, const cereal::EncodeIndex::Reader>> queue;
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int cached_id = -1;
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int cached_seg = -1;
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std::pair<VisionBuf *, VisionBuf*> cached_buf;
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};
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void startVipcServer();
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void cameraThread(Camera &cam);
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Camera cameras_[MAX_CAMERAS] = {
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{.type = RoadCam, .rgb_type = VISION_STREAM_RGB_ROAD, .yuv_type = VISION_STREAM_ROAD},
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{.type = DriverCam, .rgb_type = VISION_STREAM_RGB_DRIVER, .yuv_type = VISION_STREAM_DRIVER},
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{.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE_ROAD, .yuv_type = VISION_STREAM_WIDE_ROAD},
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};
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std::atomic<int> publishing_ = 0;
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std::unique_ptr<VisionIpcServer> vipc_server_;
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bool send_yuv;
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};
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