mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-13 03:54:37 +08:00
42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
#pragma once
|
|
|
|
#include <memory>
|
|
#include <set>
|
|
#include <tuple>
|
|
#include <utility>
|
|
|
|
#include "msgq/visionipc/visionipc_server.h"
|
|
#include "common/queue.h"
|
|
#include "tools/replay/framereader.h"
|
|
#include "tools/replay/logreader.h"
|
|
|
|
class CameraServer {
|
|
public:
|
|
CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
|
|
~CameraServer();
|
|
void pushFrame(CameraType type, FrameReader* fr, const Event *event);
|
|
void waitForSent();
|
|
|
|
protected:
|
|
struct Camera {
|
|
CameraType type;
|
|
VisionStreamType stream_type;
|
|
int width;
|
|
int height;
|
|
std::thread thread;
|
|
SafeQueue<std::pair<FrameReader*, const Event *>> queue;
|
|
std::set<VisionBuf *> cached_buf;
|
|
};
|
|
void startVipcServer();
|
|
void cameraThread(Camera &cam);
|
|
VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
|
|
|
|
Camera cameras_[MAX_CAMERAS] = {
|
|
{.type = RoadCam, .stream_type = VISION_STREAM_ROAD},
|
|
{.type = DriverCam, .stream_type = VISION_STREAM_DRIVER},
|
|
{.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD},
|
|
};
|
|
std::atomic<int> publishing_ = 0;
|
|
std::unique_ptr<VisionIpcServer> vipc_server_;
|
|
};
|