github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
80 lines
2.3 KiB
Python
Executable File
80 lines
2.3 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import threading
|
|
import os
|
|
import platform
|
|
from collections import namedtuple
|
|
|
|
from openpilot.cereal.visionipc import VisionStreamType
|
|
from msgq.visionipc import VisionIpcServer
|
|
from openpilot.cereal import messaging
|
|
|
|
from openpilot.system.camerad.webcam.camera import Camera
|
|
from openpilot.common.realtime import Ratekeeper
|
|
|
|
NARROW_ROAD_CAM = os.getenv("NARROW_ROAD_CAM", os.getenv("ROAD_CAM", "0"))
|
|
WIDE_CAM = os.getenv("WIDE_CAM")
|
|
DRIVER_CAM = os.getenv("DRIVER_CAM")
|
|
|
|
CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
|
|
|
|
CAMERAS = [
|
|
CameraType("narrowRoadCameraState", VisionStreamType.VISION_STREAM_NARROW_ROAD, NARROW_ROAD_CAM)
|
|
]
|
|
if WIDE_CAM:
|
|
CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
|
|
if DRIVER_CAM:
|
|
CAMERAS.append(CameraType("cabinCameraState", VisionStreamType.VISION_STREAM_CABIN, DRIVER_CAM))
|
|
|
|
class Camerad:
|
|
def __init__(self):
|
|
self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS])
|
|
self.vipc_server = VisionIpcServer("camerad")
|
|
|
|
self.cameras = []
|
|
for c in CAMERAS:
|
|
cam_device = f"/dev/video{c.cam_id}" if platform.system() != "Darwin" else c.cam_id
|
|
cam = Camera(c.msg_name, c.stream_type, cam_device)
|
|
self.cameras.append(cam)
|
|
self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
|
|
|
|
self.vipc_server.start_listener()
|
|
|
|
def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
|
|
eof = int(frame_id * 0.05 * 1e9)
|
|
self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
|
|
dat = messaging.new_message(pub_type, valid=True)
|
|
msg = {
|
|
"frameId": frame_id,
|
|
"transform": [1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0]
|
|
}
|
|
setattr(dat, pub_type, msg)
|
|
self.pm.send(pub_type, dat)
|
|
|
|
def camera_runner(self, cam):
|
|
rk = Ratekeeper(20, None)
|
|
for yuv in cam.read_frames():
|
|
self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
|
|
cam.cur_frame_id += 1
|
|
rk.keep_time()
|
|
|
|
def run(self):
|
|
threads = []
|
|
for cam in self.cameras:
|
|
cam_thread = threading.Thread(target=self.camera_runner, args=(cam,))
|
|
cam_thread.start()
|
|
threads.append(cam_thread)
|
|
|
|
for t in threads:
|
|
t.join()
|
|
|
|
|
|
def main():
|
|
camerad = Camerad()
|
|
camerad.run()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|