ods777/tools/replay/camera.h

44 lines
1.2 KiB
C++

#pragma once
#include <memory>
#include <set>
#include <tuple>
#include <utility>
#include "msgq/visionipc/visionipc_server.h"
#include "common/queue.h"
#include "tools/replay/framereader.h"
#include "tools/replay/logreader.h"
std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height);
class CameraServer {
public:
CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
~CameraServer();
void pushFrame(CameraType type, FrameReader* fr, const Event *event);
void waitForSent();
protected:
struct Camera {
CameraType type;
VisionStreamType stream_type;
int width;
int height;
std::thread thread;
SafeQueue<std::pair<FrameReader*, const Event *>> queue;
std::set<VisionBuf *> cached_buf;
};
void startVipcServer();
void cameraThread(Camera &cam);
VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
Camera cameras_[MAX_CAMERAS] = {
{.type = RoadCam, .stream_type = VISION_STREAM_ROAD},
{.type = DriverCam, .stream_type = VISION_STREAM_DRIVER},
{.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD},
};
std::atomic<int> publishing_ = 0;
std::unique_ptr<VisionIpcServer> vipc_server_;
};