mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-22 07:43:55 +08:00
7f0b3180a4
* add PubMaster & SubMaster
remove 'delete msg'
remove headers
* use constructor to initial all submster
* modify drain sockets
* fix typo in ssconscript.remove lines
no checkValid in loggerd
last modify
handle_message:event->&event
fix type
remove heads
event to auto
* new interface
* api changed
* Revert "use constructor to initial all submster"
This reverts commit 73be7ea46250a325ce41d3a0445e34395a2ae692.
* change to new api
* revert loggerd
* dd
* use new PubSub api
* update to new interface
don't modify loggerd
reset panda
reset opendbc
remove empty lines
* switch to new pubMaster
* update to the new inteface
change
remove error code
. to ->
merge paramsd.cc
update panda
fix typo
simplify
fix typo
* Fix build
* always conflate
Co-authored-by: deanlee <deanlee3@gmail.com>
old-commit-hash: ab5af232b2
93 lines
2.2 KiB
C++
93 lines
2.2 KiB
C++
#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <signal.h>
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#include <cassert>
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#include "common/visionbuf.h"
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#include "common/visionipc.h"
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#include "common/swaglog.h"
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#include "models/dmonitoring.h"
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#ifndef PATH_MAX
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#include <linux/limits.h>
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#endif
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volatile sig_atomic_t do_exit = 0;
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static void set_do_exit(int sig) {
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do_exit = 1;
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}
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int main(int argc, char **argv) {
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int err;
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set_realtime_priority(1);
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// messaging
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SubMaster sm({"dMonitoringState"});
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PubMaster pm({"driverState"});
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// init the models
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DMonitoringModelState dmonitoringmodel;
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dmonitoring_init(&dmonitoringmodel);
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// loop
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VisionStream stream;
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while (!do_exit) {
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VisionStreamBufs buf_info;
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err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, true, &buf_info);
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if (err) {
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printf("visionstream connect fail\n");
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usleep(100000);
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continue;
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}
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LOGW("connected with buffer size: %d", buf_info.buf_len);
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double last = 0;
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int chk_counter = 0;
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while (!do_exit) {
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VIPCBuf *buf;
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VIPCBufExtra extra;
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buf = visionstream_get(&stream, &extra);
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if (buf == NULL) {
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printf("visionstream get failed\n");
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visionstream_destroy(&stream);
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break;
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}
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//printf("frame_id: %d %dx%d\n", extra.frame_id, buf_info.width, buf_info.height);
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if (!dmonitoringmodel.is_rhd_checked) {
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if (chk_counter >= RHD_CHECK_INTERVAL) {
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if (sm.update(0) > 0) {
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auto state = sm["dMonitoringState"].getDMonitoringState();
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dmonitoringmodel.is_rhd = state.getIsRHD();
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dmonitoringmodel.is_rhd_checked = state.getRhdChecked();
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}
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chk_counter = 0;
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}
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chk_counter += 1;
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}
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double t1 = millis_since_boot();
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DMonitoringResult res = dmonitoring_eval_frame(&dmonitoringmodel, buf->addr, buf_info.width, buf_info.height);
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double t2 = millis_since_boot();
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// send dm packet
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dmonitoring_publish(pm, extra.frame_id, res);
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LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
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last = t1;
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}
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}
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visionstream_destroy(&stream);
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dmonitoring_free(&dmonitoringmodel);
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return 0;
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}
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