124 lines
2.5 KiB
C
124 lines
2.5 KiB
C
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int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info) {
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int err;
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memset(s, 0, sizeof(*s));
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s->last_idx = -1;
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s->ipc_fd = vipc_connect();
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if (s->ipc_fd < 0) return -1;
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VisionPacket p = {
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.type = VIPC_STREAM_SUBSCRIBE,
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.d = { .stream_sub = {
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.type = type,
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.tbuffer = tbuffer,
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}, },
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};
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err = vipc_send(s->ipc_fd, &p);
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if (err < 0) {
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close(s->ipc_fd);
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return -1;
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}
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VisionPacket rp;
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err = vipc_recv(s->ipc_fd, &rp);
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if (err <= 0) {
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close(s->ipc_fd);
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return -1;
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}
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assert(rp.type = VIPC_STREAM_BUFS);
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assert(rp.d.stream_bufs.type == type);
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s->bufs_info = rp.d.stream_bufs;
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s->num_bufs = rp.num_fds;
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s->bufs = calloc(s->num_bufs, sizeof(VIPCBuf));
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assert(s->bufs);
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vipc_bufs_load(s->bufs, &rp.d.stream_bufs, s->num_bufs, rp.fds);
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if (out_bufs_info) {
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*out_bufs_info = s->bufs_info;
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}
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return 0;
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}
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void visionstream_release(VisionStream *s) {
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int err;
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if (s->last_idx >= 0) {
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VisionPacket rep = {
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.type = VIPC_STREAM_RELEASE,
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.d = { .stream_rel = {
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.type = s->last_type,
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.idx = s->last_idx,
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}}
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};
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err = vipc_send(s->ipc_fd, &rep);
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s->last_idx = -1;
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}
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}
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VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
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int err;
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VisionPacket rp;
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err = vipc_recv(s->ipc_fd, &rp);
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if (err <= 0) {
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return NULL;
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}
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assert(rp.type == VIPC_STREAM_ACQUIRE);
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if (s->last_idx >= 0) {
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VisionPacket rep = {
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.type = VIPC_STREAM_RELEASE,
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.d = { .stream_rel = {
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.type = s->last_type,
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.idx = s->last_idx,
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}}
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};
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err = vipc_send(s->ipc_fd, &rep);
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if (err <= 0) {
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return NULL;
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}
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}
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s->last_type = rp.d.stream_acq.type;
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s->last_idx = rp.d.stream_acq.idx;
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assert(s->last_idx < s->num_bufs);
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if (out_extra) {
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*out_extra = rp.d.stream_acq.extra;
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}
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return &s->bufs[s->last_idx];
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}
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void visionstream_destroy(VisionStream *s) {
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int err;
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if (s->last_idx >= 0) {
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VisionPacket rep = {
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.type = VIPC_STREAM_RELEASE,
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.d = { .stream_rel = {
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.type = s->last_type,
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.idx = s->last_idx,
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}}
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};
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err = vipc_send(s->ipc_fd, &rep);
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s->last_idx = -1;
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}
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for (int i=0; i<s->num_bufs; i++) {
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if (s->bufs[i].addr) {
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munmap(s->bufs[i].addr, s->bufs[i].len);
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s->bufs[i].addr = NULL;
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close(s->bufs[i].fd);
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}
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}
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if (s->bufs) free(s->bufs);
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close(s->ipc_fd);
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} |