Release 260111

tools/webcam/camerad.py

@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+import threading
+import os
+from collections import namedtuple
+
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from cereal import messaging
+
+from openpilot.tools.webcam.camera import Camera
+from openpilot.common.realtime import Ratekeeper
+
+WIDE_CAM = os.getenv("WIDE_CAM")
+CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
+CAMERAS = [
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
+]
+if WIDE_CAM:
+  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_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_device = f"/dev/video{c.cam_id}"
+      print(f"opening {c.msg_name} at {cam_device}")
+      cam = Camera(c.msg_name, c.stream_type, cam_device)
+      self.cameras.append(cam)
+      self.vipc_server.create_buffers(c.stream_type, 20, 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)
+    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()