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firestar5683
e9dd458699
Provide route replay, log migration and recorded vehicle fixtures for regression checks. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
48 lines
1.4 KiB
C++
48 lines
1.4 KiB
C++
#pragma once
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#include <memory>
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#include <set>
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#include <tuple>
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#include <utility>
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#include "openpilot/cereal/visionstream.h"
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#include "msgq/visionipc/visionipc_server.h"
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#include "common/queue.h"
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#include "tools/replay/framereader.h"
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#include "tools/replay/logreader.h"
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class CameraServer {
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public:
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CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr, int buffer_count = 40);
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~CameraServer();
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void pushFrame(CameraType type, FrameReader* fr, const Event *event);
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bool waitForSent();
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bool failed() const { return failed_; }
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protected:
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struct Camera {
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CameraType type;
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VisionStreamType stream_type;
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int width;
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int height;
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std::thread thread;
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SafeQueue<std::pair<FrameReader*, const Event *>> queue;
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std::set<VisionBuf *> cached_buf;
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};
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void startVipcServer();
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void cameraThread(Camera &cam);
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VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
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Camera cameras_[MAX_CAMERAS] = {
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{.type = NarrowRoadCam, .stream_type = VISION_STREAM_NARROW_ROAD},
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{.type = CabinCam, .stream_type = VISION_STREAM_CABIN},
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{.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD},
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};
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std::atomic<int> publishing_ = 0;
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std::atomic<bool> failed_ = false;
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std::mutex sent_mutex_;
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std::condition_variable sent_cv_;
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const int buffer_count_;
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std::unique_ptr<VisionIpcServer> vipc_server_;
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};
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