111 lines
2.2 KiB
C
111 lines
2.2 KiB
C
#ifndef VISIONIPC_H
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#define VISIONIPC_H
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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#define VIPC_SOCKET_PATH "/tmp/vision_socket"
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#define VIPC_MAX_FDS 64
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum VisionIPCPacketType {
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VIPC_INVALID = 0,
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VIPC_STREAM_SUBSCRIBE,
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VIPC_STREAM_BUFS,
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VIPC_STREAM_ACQUIRE,
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VIPC_STREAM_RELEASE,
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} VisionIPCPacketType;
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typedef enum VisionStreamType {
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VISION_STREAM_UI_BACK,
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VISION_STREAM_UI_FRONT,
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VISION_STREAM_YUV,
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VISION_STREAM_MAX,
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} VisionStreamType;
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typedef struct VisionUIInfo {
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int big_box_x, big_box_y;
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int big_box_width, big_box_height;
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int transformed_width, transformed_height;
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int front_box_x, front_box_y;
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int front_box_width, front_box_height;
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} VisionUIInfo;
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typedef struct VisionStreamBufs {
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VisionStreamType type;
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int width, height, stride;
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size_t buf_len;
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union {
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VisionUIInfo ui_info;
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} buf_info;
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} VisionStreamBufs;
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typedef struct VIPCBufExtra {
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// only for yuv
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uint32_t frame_id;
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uint64_t timestamp_eof;
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} VIPCBufExtra;
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typedef union VisionPacketData {
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struct {
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VisionStreamType type;
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bool tbuffer;
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} stream_sub;
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VisionStreamBufs stream_bufs;
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struct {
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VisionStreamType type;
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int idx;
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VIPCBufExtra extra;
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} stream_acq;
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struct {
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VisionStreamType type;
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int idx;
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} stream_rel;
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} VisionPacketData;
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typedef struct VisionPacket {
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int type;
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VisionPacketData d;
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int num_fds;
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int fds[VIPC_MAX_FDS];
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} VisionPacket;
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int vipc_connect(void);
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int vipc_recv(int fd, VisionPacket *out_p);
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int vipc_send(int fd, const VisionPacket *p);
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typedef struct VIPCBuf {
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int fd;
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size_t len;
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void* addr;
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} VIPCBuf;
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void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
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int num_fds, const int* fds);
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typedef struct VisionStream {
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int ipc_fd;
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int last_idx;
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int num_bufs;
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VisionStreamBufs bufs_info;
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VIPCBuf *bufs;
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} VisionStream;
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int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
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VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
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void visionstream_destroy(VisionStream *s);
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#ifdef __cplusplus
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}
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#endif
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#endif
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