mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 05:23:41 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
80 lines
1.9 KiB
C++
80 lines
1.9 KiB
C++
#include "msgq/visionipc/visionbuf.h"
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#include <atomic>
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#include <stdio.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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std::atomic<int> offset = 0;
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static void *malloc_with_fd(size_t len, int *fd) {
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char full_path[0x100];
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#ifdef __APPLE__
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snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
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#else
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snprintf(full_path, sizeof(full_path)-1, "/dev/shm/msgq_visionbuf_%d_%d", getpid(), offset++);
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#endif
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*fd = open(full_path, O_RDWR | O_CREAT, 0664);
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assert(*fd >= 0);
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unlink(full_path);
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int ret = ftruncate(*fd, len);
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assert(ret == 0);
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void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
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assert(addr != MAP_FAILED);
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return addr;
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}
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void VisionBuf::allocate(size_t length) {
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this->len = length;
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this->mmap_len = this->len + sizeof(uint64_t);
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this->addr = malloc_with_fd(this->mmap_len, &this->fd);
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this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
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}
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void VisionBuf::import(){
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assert(this->fd >= 0);
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this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
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assert(this->addr != MAP_FAILED);
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this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
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}
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void VisionBuf::init_yuv(size_t init_width, size_t init_height, size_t init_stride, size_t init_uv_offset){
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this->width = init_width;
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this->height = init_height;
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this->stride = init_stride;
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this->uv_offset = init_uv_offset;
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this->y = (uint8_t *)this->addr;
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this->uv = this->y + this->uv_offset;
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}
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int VisionBuf::sync(int dir) {
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return 0;
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}
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int VisionBuf::free() {
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int err = munmap(this->addr, this->mmap_len);
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if (err != 0) return err;
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err = close(this->fd);
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return err;
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}
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uint64_t VisionBuf::get_frame_id() {
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return *frame_id;
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}
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void VisionBuf::set_frame_id(uint64_t id) {
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*frame_id = id;
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}
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