mirror of
https://github.com/firestar5683/StarPilot.git
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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.
164 lines
4.2 KiB
Cython
164 lines
4.2 KiB
Cython
# distutils: language = c++
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# cython: c_string_encoding=ascii, language_level=3
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from libc.string cimport memcpy
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from libc.stdint cimport uint32_t, uint64_t
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from libcpp cimport bool
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from libcpp.string cimport string
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from .visionipc cimport VisionIpcServer as cppVisionIpcServer
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from .visionipc cimport VisionIpcClient as cppVisionIpcClient
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from .visionipc cimport VisionBuf as cppVisionBuf
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from .visionipc cimport VisionIpcBufExtra, VisionStreamType
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from .visionipc cimport get_endpoint_name as cpp_get_endpoint_name
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def get_endpoint_name(string name, VisionStreamType stream):
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return cpp_get_endpoint_name(name, stream).decode('utf-8')
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cdef class VisionBuf:
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@staticmethod
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cdef create(cppVisionBuf * cbuf):
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buf = VisionBuf()
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buf.buf = cbuf
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return buf
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@property
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def data(self):
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cdef unsigned char[:] data = <unsigned char[:self.buf.len]> self.buf.addr
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return memoryview(data)
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@property
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def width(self):
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return self.buf.width
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@property
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def height(self):
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return self.buf.height
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@property
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def stride(self):
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return self.buf.stride
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@property
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def uv_offset(self):
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return self.buf.uv_offset
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@property
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def idx(self):
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return self.buf.idx
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@property
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def fd(self):
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return self.buf.fd
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@property
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def frame_id(self):
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return self.buf.get_frame_id()
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cdef class VisionIpcServer:
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cdef cppVisionIpcServer * server
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def __init__(self, string name):
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self.server = new cppVisionIpcServer(name)
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def create_buffers(self, VisionStreamType tp, size_t num_buffers, size_t width, size_t height):
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self.server.create_buffers(tp, num_buffers, width, height)
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def create_buffers_with_sizes(self, VisionStreamType tp, size_t num_buffers, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset):
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self.server.create_buffers_with_sizes(tp, num_buffers, width, height, size, stride, uv_offset)
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def send(self, VisionStreamType tp, const unsigned char[:] data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
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cdef cppVisionBuf * buf = self.server.get_buffer(tp)
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# Populate buffer
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assert buf.len == len(data)
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memcpy(buf.addr, &data[0], len(data))
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buf.set_frame_id(frame_id)
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cdef VisionIpcBufExtra extra
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extra.frame_id = frame_id
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extra.timestamp_sof = timestamp_sof
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extra.timestamp_eof = timestamp_eof
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extra.valid = False
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self.server.send(buf, &extra, False)
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def start_listener(self):
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self.server.start_listener()
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def __dealloc__(self):
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del self.server
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cdef class VisionIpcClient:
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cdef cppVisionIpcClient * client
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cdef VisionIpcBufExtra extra
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def __cinit__(self, string name, VisionStreamType stream, bool conflate):
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self.client = new cppVisionIpcClient(name, stream, conflate)
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def __dealloc__(self):
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del self.client
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@property
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def width(self):
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return self.client.buffers[0].width if self.client.num_buffers else None
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@property
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def height(self):
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return self.client.buffers[0].height if self.client.num_buffers else None
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@property
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def stride(self):
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return self.client.buffers[0].stride if self.client.num_buffers else None
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@property
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def uv_offset(self):
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return self.client.buffers[0].uv_offset if self.client.num_buffers else None
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@property
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def buffer_len(self):
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return self.client.buffers[0].len if self.client.num_buffers else None
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@property
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def num_buffers(self):
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return self.client.num_buffers
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@property
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def frame_id(self):
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return self.extra.frame_id
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@property
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def timestamp_sof(self):
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return self.extra.timestamp_sof
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@property
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def timestamp_eof(self):
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return self.extra.timestamp_eof
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@property
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def valid(self):
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return self.extra.valid
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def recv(self, int timeout_ms=100):
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cdef cppVisionBuf * buf
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# release the GIL, this can block for timeout_ms
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with nogil:
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buf = self.client.recv(&self.extra, timeout_ms)
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if not buf:
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return None
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return VisionBuf.create(buf)
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def connect(self, bool blocking):
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return self.client.connect(blocking)
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def is_connected(self):
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return self.client.is_connected()
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@staticmethod
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def available_streams(string name, bool block):
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return cppVisionIpcClient.getAvailableStreams(name, block)
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