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deanlee · Dec 15, 2023 · a52b64c · a52b64c
1 parent 014595c
commit a52b64c
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Showing 4 changed files with 22 additions and 21 deletions.
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
@@ -15,8 +15,8 @@ std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
  return {nv12_width, nv12_height, nv12_buffer_size};
 }
 
-CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
- for (int i = 0; i < MAX_CAMERAS; ++i) {
+CameraServer::CameraServer(std::pair<int, int> camera_size[VISION_STREAM_MAX]) {
+ for (int i = 0; i < VISION_STREAM_MAX; ++i) {
  std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i];
  }
  startVipcServer();
@@ -36,7 +36,7 @@ void CameraServer::startVipcServer() {
  vipc_server_.reset(new VisionIpcServer("camerad"));
  for (auto &cam : cameras_) {
  if (cam.width > 0 && cam.height > 0) {
- rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
+ rInfo("camera[%d] frame size %dx%d", cam.stream_type, cam.width, cam.height);
  auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
  vipc_server_->create_buffers_with_sizes(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height,
  nv12_buffer_size, nv12_width, nv12_width * nv12_height);
@@ -72,7 +72,7 @@ void CameraServer::cameraThread(Camera &cam) {
  yuv->set_frame_id(eidx.getFrameId());
  vipc_server_->send(yuv, &extra);
  } else {
- rError("camera[%d] failed to get frame: %lu", cam.type, eidx.getSegmentId());
+ rError("camera[%d] failed to get frame: %lu", cam.stream_type, eidx.getSegmentId());
  }
 
  cam.cached_id = id + 1;
@@ -83,7 +83,7 @@ void CameraServer::cameraThread(Camera &cam) {
  }
 }
 
-void CameraServer::pushFrame(CameraType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx) {
+void CameraServer::pushFrame(VisionStreamType type, FrameReader *fr, const cereal::EncodeIndex::Reader &eidx) {
  auto &cam = cameras_[type];
  if (cam.width != fr->width || cam.height != fr->height) {
  cam.width = fr->width;

diff --git a/tools/replay/camera.h b/tools/replay/camera.h
@@ -2,6 +2,7 @@
 
 #include <unistd.h>
 
+#include <array>
 #include <memory>
 #include <tuple>
 #include <utility>
@@ -15,9 +16,9 @@ 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(std::pair<int, int> camera_size[VISION_STREAM_MAX] = nullptr);
  ~CameraServer();
- void pushFrame(CameraType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
+ void pushFrame(VisionStreamType type, FrameReader* fr, const cereal::EncodeIndex::Reader& eidx);
  void waitForSent();
 
 protected:
@@ -34,11 +35,11 @@ class CameraServer {
  void startVipcServer();
  void cameraThread(Camera &cam);
 
- Camera cameras_[] = {
-  {.stream_type = VISION_STREAM_ROAD},
-  {.stream_type = VISION_STREAM_DRIVER},
-  {.stream_type = VISION_STREAM_WIDE_ROAD},
- };
+ std::array<Camera, 3> cameras_ = {
+ Camera{.stream_type = VISION_STREAM_ROAD},
+ Camera{.stream_type = VISION_STREAM_DRIVER},
+ Camera{.stream_type = VISION_STREAM_WIDE_ROAD},
+};
  std::atomic<int> publishing_ = 0;
  std::unique_ptr<VisionIpcServer> vipc_server_;
 };
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
@@ -310,8 +310,8 @@ void Replay::startStream(const Segment *cur_segment) {
 
  // start camera server
  if (!hasFlag(REPLAY_FLAG_NO_VIPC)) {
- std::pair<int, int> camera_size[MAX_CAMERAS] = {};
- for (auto type : ALL_CAMERAS) {
+ std::pair<int, int> camera_size[VISION_STREAM_MAX] = {};
+ for (int type = 0; type < VISION_STREAM_MAX; ++type) {
  if (auto &fr = cur_segment->frames[type]) {
  camera_size[type] = {fr->width, fr->height};
  }
@@ -345,19 +345,19 @@ void Replay::publishMessage(const Event *e) {
 }
 
 void Replay::publishFrame(const Event *e) {
- static const std::map<cereal::Event::Which, CameraType> cam_types{
- {cereal::Event::ROAD_ENCODE_IDX, RoadCam},
- {cereal::Event::DRIVER_ENCODE_IDX, DriverCam},
- {cereal::Event::WIDE_ROAD_ENCODE_IDX, WideRoadCam},
+ static const std::map<cereal::Event::Which, VisionStreamType> cam_types{
+ {cereal::Event::ROAD_ENCODE_IDX, VISION_STREAM_ROAD},
+ {cereal::Event::DRIVER_ENCODE_IDX, VISION_STREAM_DRIVER},
+ {cereal::Event::WIDE_ROAD_ENCODE_IDX, VISION_STREAM_WIDE_ROAD},
  };
  if ((e->which == cereal::Event::DRIVER_ENCODE_IDX && !hasFlag(REPLAY_FLAG_DCAM)) ||
  (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !hasFlag(REPLAY_FLAG_ECAM))) {
  return;
  }
  auto eidx = capnp::AnyStruct::Reader(e->event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
  if (eidx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C && isSegmentMerged(eidx.getSegmentNum())) {
- CameraType cam = cam_types.at(e->which);
- camera_server_->pushFrame(cam, segments_[eidx.getSegmentNum()]->frames[cam].get(), eidx);
+ VisionStreamType steam_type = cam_types.at(e->which);
+ camera_server_->pushFrame(cam, segments_[eidx.getSegmentNum()]->frames[steam_type].get(), eidx);
  }
 }
 

diff --git a/tools/replay/route.h b/tools/replay/route.h
@@ -60,7 +60,7 @@ class Segment : public QObject {
 
  const int seg_num = 0;
  std::unique_ptr<LogReader> log;
- std::unique_ptr<FrameReader> frames[MAX_CAMERAS] = {};
+ std::unique_ptr<FrameReader> frames[VISION_STREAM_MAX] = {};
 
 signals:
  void loadFinished(bool success);