mirror of https://github.com/commaai/openpilot.git
74 lines
2.2 KiB
Python
Executable File
74 lines
2.2 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import threading
|
|
import os
|
|
from collections import namedtuple
|
|
|
|
from cereal.visionipc import VisionIpcServer, VisionStreamType
|
|
from cereal import messaging
|
|
|
|
from openpilot.tools.webcam.camera import Camera
|
|
from openpilot.common.realtime import Ratekeeper
|
|
|
|
DUAL_CAM = os.getenv("DUAL_CAMERA")
|
|
CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
|
|
CAMERAS = [
|
|
CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")),
|
|
CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")),
|
|
]
|
|
if DUAL_CAM:
|
|
CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
|
|
|
|
class Camerad:
|
|
def __init__(self):
|
|
self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS])
|
|
self.vipc_server = VisionIpcServer("camerad")
|
|
|
|
self.cameras = []
|
|
for c in CAMERAS:
|
|
cam = Camera(c.msg_name, c.stream_type, c.cam_id)
|
|
assert cam.cap.isOpened(), f"Can't find camera {c}"
|
|
self.cameras.append(cam)
|
|
self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
|
|
|
|
self.vipc_server.start_listener()
|
|
|
|
def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
|
|
eof = int(frame_id * 0.05 * 1e9)
|
|
self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
|
|
dat = messaging.new_message(pub_type, valid=True)
|
|
msg = {
|
|
"frameId": frame_id,
|
|
"transform": [1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0]
|
|
}
|
|
setattr(dat, pub_type, msg)
|
|
self.pm.send(pub_type, dat)
|
|
|
|
def camera_runner(self, cam):
|
|
rk = Ratekeeper(20, None)
|
|
while cam.cap.isOpened():
|
|
for yuv in cam.read_frames():
|
|
self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
|
|
cam.cur_frame_id += 1
|
|
rk.keep_time()
|
|
|
|
def run(self):
|
|
threads = []
|
|
for cam in self.cameras:
|
|
cam_thread = threading.Thread(target=self.camera_runner, args=(cam,))
|
|
cam_thread.start()
|
|
threads.append(cam_thread)
|
|
|
|
for t in threads:
|
|
t.join()
|
|
|
|
|
|
def main():
|
|
camerad = Camerad()
|
|
camerad.run()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|