openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

tools/replay/camera.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include <unistd.h>
+
+#include <memory>
+#include <tuple>
+#include <utility>
+
+#include "cereal/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 cereal::EncodeIndex::Reader& eidx);
+  void waitForSent();
+
+protected:
+  struct Camera {
+    CameraType type;
+    VisionStreamType stream_type;
+    int width;
+    int height;
+    std::thread thread;
+    SafeQueue<std::pair<FrameReader*, const cereal::EncodeIndex::Reader>> queue;
+    int cached_id = -1;
+    int cached_seg = -1;
+    VisionBuf * cached_buf;
+  };
+  void startVipcServer();
+  void cameraThread(Camera &cam);
+
+  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_;
+};