Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#pragma once
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#include <vector>
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#include <string>
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#include <thread>
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#include <atomic>
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#include <map>
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#include "msgq/ipc.h"
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#include "msgq/visionipc/visionbuf.h"
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std::string get_endpoint_name(std::string name, VisionStreamType type);
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std::string get_ipc_path(const std::string &name);
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class VisionIpcServer {
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private:
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uint64_t server_id;
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std::atomic<bool> should_exit = false;
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std::string name;
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std::thread listener_thread;
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std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
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std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
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Context * msg_ctx;
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std::map<VisionStreamType, PubSocket*> sockets;
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void listener(void);
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public:
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VisionIpcServer(std::string name);
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~VisionIpcServer();
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VisionBuf * get_buffer(VisionStreamType type, int idx = -1);
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void create_buffers(VisionStreamType type, size_t num_buffers, size_t width, size_t height);
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void create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset);
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void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
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void start_listener();
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};
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