From dc406553ebade87ed95b6cc545598efedd67d49d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 9 Feb 2021 17:15:18 +0100
Subject: [PATCH] Cython wrapper for VisionIpc server (#117)

* vipc cython wrapper

* send some data

* start listener

* fix extra datatype
---
 SConscript                  |  3 +++
 visionipc/.gitignore        |  2 ++
 visionipc/__init__.py       |  0
 visionipc/visionipc.pxd     | 29 ++++++++++++++++++++++
 visionipc/visionipc_pyx.pyx | 49 +++++++++++++++++++++++++++++++++++++
 5 files changed, 83 insertions(+)
 create mode 100644 visionipc/.gitignore
 create mode 100644 visionipc/__init__.py
 create mode 100644 visionipc/visionipc.pxd
 create mode 100644 visionipc/visionipc_pyx.pyx

diff --git a/SConscript b/SConscript
index ddc2fd4..100bd70 100644
--- a/SConscript
+++ b/SConscript
@@ -71,6 +71,9 @@ else:
 vipc_objects = env.SharedObject(vipc_sources)
 vipc = env.Library('visionipc', vipc_objects)
 
+envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib])
+
+
 if GetOption('test'):
   env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
   env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
diff --git a/visionipc/.gitignore b/visionipc/.gitignore
new file mode 100644
index 0000000..fa5a2b9
--- /dev/null
+++ b/visionipc/.gitignore
@@ -0,0 +1,2 @@
+visionipc_pyx.cpp
+*.so
diff --git a/visionipc/__init__.py b/visionipc/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/visionipc/visionipc.pxd b/visionipc/visionipc.pxd
new file mode 100644
index 0000000..00a1776
--- /dev/null
+++ b/visionipc/visionipc.pxd
@@ -0,0 +1,29 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from libcpp.string cimport string
+from libcpp.vector cimport vector
+from libc.stdint cimport uint32_t, uint64_t
+from libcpp cimport bool
+
+cdef extern from "visionbuf.h":
+  cdef enum VisionStreamType:
+    pass
+
+  cdef cppclass VisionBuf:
+    void * addr
+    size_t len
+
+cdef extern from "visionipc.h":
+  struct VisionIpcBufExtra:
+    uint32_t frame_id
+    uint64_t timestamp_sof
+    uint64_t timestamp_eof
+
+cdef extern from "visionipc_server.h":
+  cdef cppclass VisionIpcServer:
+    VisionIpcServer(string, void*, void*)
+    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
+    VisionBuf * get_buffer(VisionStreamType)
+    void send(VisionBuf *, VisionIpcBufExtra *, bool)
+    void start_listener()
diff --git a/visionipc/visionipc_pyx.pyx b/visionipc/visionipc_pyx.pyx
new file mode 100644
index 0000000..fb8eed0
--- /dev/null
+++ b/visionipc/visionipc_pyx.pyx
@@ -0,0 +1,49 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import sys
+from libcpp.string cimport string
+from libcpp cimport bool
+from libc.string cimport memcpy
+from libc.stdint cimport uint32_t, uint64_t
+
+from .visionipc cimport VisionIpcServer as cppVisionIpcServer
+from .visionipc cimport VisionBuf as cppVisionBuf
+from .visionipc cimport VisionIpcBufExtra
+
+cpdef enum VisionStreamType:
+  VISION_STREAM_RGB_BACK
+  VISION_STREAM_RGB_FRONT
+  VISION_STREAM_RGB_WIDE
+  VISION_STREAM_YUV_BACK
+  VISION_STREAM_YUV_FRONT
+  VISION_STREAM_YUV_WIDE
+
+cdef class VisionIpcServer:
+  cdef cppVisionIpcServer * server
+
+  def __init__(self, string name):
+    self.server = new cppVisionIpcServer(name, NULL, NULL)
+
+  def create_buffers(self,  VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
+    self.server.create_buffers(tp, num_buffers, rgb, width, height)
+
+  def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
+    cdef cppVisionBuf * buf = self.server.get_buffer(tp)
+
+    # Populate buffer
+    assert buf.len == len(data)
+    memcpy(buf.addr, <char*>data, len(data))
+
+    cdef VisionIpcBufExtra extra
+    extra.frame_id = frame_id
+    extra.timestamp_sof = timestamp_sof
+    extra.timestamp_eof = timestamp_eof
+
+    self.server.send(buf, &extra, False)
+
+  def start_listener(self):
+    self.server.start_listener()
+
+  def __dealloc__(self):
+    del self.server