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https://github.com/sunnypilot/sunnypilot.git
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9c5bbe1a91
* Fix assertion for vision_pubs * Get camera states from meta * Convert deviceType to string * Use neo instead of eon for frame sizes dict * update vision_pubs of process config when creating vipc
44 lines
1.9 KiB
Python
44 lines
1.9 KiB
Python
from collections import namedtuple
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from 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 tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
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VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
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ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
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WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
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DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
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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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("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, 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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("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_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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