Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
51 lines
886 B
C++
51 lines
886 B
C++
#pragma once
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#include "msgq/visionipc/visionipc.h"
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#define VISIONBUF_SYNC_FROM_DEVICE 0
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#define VISIONBUF_SYNC_TO_DEVICE 1
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enum VisionStreamType {
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VISION_STREAM_ROAD,
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VISION_STREAM_DRIVER,
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VISION_STREAM_WIDE_ROAD,
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VISION_STREAM_MAP,
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VISION_STREAM_MAX,
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};
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class VisionBuf {
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public:
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size_t len = 0;
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size_t mmap_len = 0;
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void * addr = nullptr;
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uint64_t *frame_id;
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int fd = 0;
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size_t width = 0;
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size_t height = 0;
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size_t stride = 0;
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size_t uv_offset = 0;
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// YUV
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uint8_t * y = nullptr;
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uint8_t * uv = nullptr;
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// Visionipc
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uint64_t server_id = 0;
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size_t idx = 0;
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VisionStreamType type;
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// ion
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int handle = 0;
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void allocate(size_t len);
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void import();
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void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset);
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int sync(int dir);
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int free();
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void set_frame_id(uint64_t id);
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uint64_t get_frame_id();
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};
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