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openpilot v0.5 release

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This commit is contained in:
Vehicle Researcher
2018-07-12 18:52:06 -07:00
parent e9ad7793f0
commit de33bc4645
99 changed files with 6055 additions and 2193 deletions
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20
selfdrive/debug/getframes/getframes.py
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@@ -14,9 +14,10 @@ ffi = FFI()
ffi.cdef("""
typedef enum VisionStreamType {
VISION_STREAM_UI_BACK,
VISION_STREAM_UI_FRONT,
VISION_STREAM_RGB_BACK,
VISION_STREAM_RGB_FRONT,
VISION_STREAM_YUV,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_MAX,
} VisionStreamType;
@@ -47,12 +48,15 @@ typedef struct VIPCBuf {
} VIPCBuf;
typedef struct VIPCBufExtra {
uint32_t frame_id; // only for yuv
// only for yuv
uint32_t frame_id;
uint64_t timestamp_eof;
} VIPCBufExtra;
typedef struct VisionStream {
int ipc_fd;
int last_idx;
int last_type;
int num_bufs;
VisionStreamBufs bufs_info;
VIPCBuf *bufs;
@@ -68,10 +72,16 @@ void visionstream_destroy(VisionStream *s);
clib = ffi.dlopen(os.path.join(gf_dir, "libvisionipc.so"))
def getframes():
def getframes(front=False):
s = ffi.new("VisionStream*")
buf_info = ffi.new("VisionStreamBufs*")
err = clib.visionstream_init(s, clib.VISION_STREAM_UI_BACK, True, buf_info)
if front:
stream_type = clib.VISION_STREAM_RGB_FRONT
else:
stream_type = clib.VISION_STREAM_RGB_BACK
err = clib.visionstream_init(s, stream_type, True, buf_info)
assert err == 0
w = buf_info.width