mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-21 09:12:25 +08:00
Dean Lee
5afb4b9731
* start streaming after segment loaded dd * loop from beginning if reaches the end * isSegmentLoaded * one loop * move to ctor * delete stream_thread_ on exit * pause streaming while testing seek * Revert "one loop" This reverts commit f029cd118f7ac876dee1dbf2b91478403211ad47. * test:dummy stream thread * cleanup * start thread after vipcserver old-commit-hash: f6de10b55a089a0600dd9826ffa3bfc140752370
40 lines
1.1 KiB
C++
40 lines
1.1 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> cameras[MAX_CAMERAS] = nullptr);
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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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void startVipcServer();
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void thread();
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struct Camera {
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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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};
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Camera cameras_[MAX_CAMERAS] = {
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{.rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_YUV_BACK},
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{.rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
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{.rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
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};
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std::atomic<int> publishing_ = 0;
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std::thread camera_thread_;
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std::unique_ptr<VisionIpcServer> vipc_server_;
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SafeQueue<std::tuple<CameraType, FrameReader*, const cereal::EncodeIndex::Reader>> queue_;
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};
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