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https://github.com/sunnypilot/sunnypilot.git
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Adeeb Shihadeh
44 lines
1.9 KiB
Python
44 lines
1.9 KiB
Python
from collections import namedtuple
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from openpilot.cereal.visionipc import VisionStreamType
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from openpilot.common.realtime import DT_MDL, DT_DMON
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from openpilot.common.transformations.camera import DEVICE_CAMERAS
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VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
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NARROW_ROAD_CAMERA_FRAME_SIZES = {k: (v.narrow_road.width, v.narrow_road.height) for k, v in DEVICE_CAMERAS.items()}
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WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.wide_road.width, v.wide_road.height) for k, v in DEVICE_CAMERAS.items() if v.wide_road is not None}
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CABIN_CAMERA_FRAME_SIZES = {k: (v.cabin.width, v.cabin.height) for k, v in DEVICE_CAMERAS.items()}
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VIPC_STREAM_METADATA = [
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# metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
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("narrowRoadCameraState", "narrowRoadEncodeIdx", VisionStreamType.VISION_STREAM_NARROW_ROAD, DT_MDL, NARROW_ROAD_CAMERA_FRAME_SIZES),
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("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
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("cabinCameraState", "cabinEncodeIdx", VisionStreamType.VISION_STREAM_CABIN, DT_DMON, CABIN_CAMERA_FRAME_SIZES),
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]
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def meta_from_camera_state(state):
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meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[0] == state), None)
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return meta
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def meta_from_encode_index(encode_index):
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meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[1] == encode_index), None)
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return meta
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def meta_from_stream_type(stream_type):
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meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[2] == stream_type), None)
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return meta
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def available_streams(lr=None):
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if lr is None:
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return [VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA]
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result = []
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for meta in VIPC_STREAM_METADATA:
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has_cam_state = next((True for m in lr if m.which() == meta[0]), False)
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if has_cam_state:
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result.append(VideoStreamMeta(*meta))
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return result
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