openpilot v0.3.6 release

selfdrive/debug/getframes/Makefile

@@ -0,0 +1,26 @@
+CC = clang
+CXX = clang++
+
+WARN_FLAGS = -Werror=implicit-function-declaration \
+             -Werror=incompatible-pointer-types \
+             -Werror=int-conversion \
+             -Werror=return-type \
+             -Werror=format-extra-args
+
+CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
+
+.PHONY: all
+all: libvisionipc.so
+
+visionipc.o: ../../common/visionipc.c ../../common/visionipc.h 
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) -MMD \
+          -I../.. -I../../.. \
+          -c -o '$@' ../../common/visionipc.c
+
+libvisionipc.so: visionipc.o
+	$(CC) -shared -fPIC -o '$@' visionipc.o
+
+.PHONY: clean
+clean:
+	rm visionipc.o libvisionipc.so

selfdrive/debug/getframes/getframes.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+import os
+import time
+import subprocess
+from cffi import FFI
+import ctypes
+
+import numpy as np
+
+gf_dir = os.path.dirname(os.path.abspath(__file__))
+
+subprocess.check_call(["make"], cwd=gf_dir)
+
+
+ffi = FFI()
+ffi.cdef("""
+
+typedef enum VisionStreamType {
+  VISION_STREAM_UI_BACK,
+  VISION_STREAM_UI_FRONT,
+  VISION_STREAM_YUV,
+  VISION_STREAM_MAX,
+} VisionStreamType;
+
+typedef struct VisionUIInfo {
+  int big_box_x, big_box_y;
+  int big_box_width, big_box_height;
+  int transformed_width, transformed_height;
+
+  int front_box_x, front_box_y;
+  int front_box_width, front_box_height;
+} VisionUIInfo;
+
+typedef struct VisionStreamBufs {
+  VisionStreamType type;
+
+  int width, height, stride;
+  size_t buf_len;
+
+  union {
+    VisionUIInfo ui_info;
+  } buf_info;
+} VisionStreamBufs;
+
+typedef struct VisionBuf {
+  int fd;
+  size_t len;
+  void* addr;
+} VisionBuf;
+
+typedef struct VisionBufExtra {
+  uint32_t frame_id; // only for yuv
+} VisionBufExtra;
+
+typedef struct VisionStream {
+  int ipc_fd;
+  int last_idx;
+  int num_bufs;
+  VisionStreamBufs bufs_info;
+  VisionBuf *bufs;
+} VisionStream;
+
+int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
+VisionBuf* visionstream_get(VisionStream *s, VisionBufExtra *out_extra);
+void visionstream_destroy(VisionStream *s);
+
+"""
+)
+
+clib = ffi.dlopen(os.path.join(gf_dir, "libvisionipc.so"))
+
+
+def getframes():
+  s = ffi.new("VisionStream*")
+  buf_info = ffi.new("VisionStreamBufs*")
+  err = clib.visionstream_init(s, clib.VISION_STREAM_UI_BACK, True, buf_info)
+  assert err == 0
+
+  w = buf_info.width
+  h = buf_info.height
+  assert buf_info.stride == w*3
+  assert buf_info.buf_len == w*h*3
+
+  while True:
+    buf = clib.visionstream_get(s, ffi.NULL)
+
+    pbuf = ffi.buffer(buf.addr, buf.len)
+    yield np.frombuffer(pbuf, dtype=np.uint8).reshape((h, w, 3))
+
+
+if __name__ == "__main__":
+  for buf in getframes():
+    print buf.shape, buf[101, 101]