36 lines
963 B
C++
36 lines
963 B
C++
#pragma once
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#include <set>
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#include <string>
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#include <vector>
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#include <unistd.h>
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#include "cereal/messaging/messaging.h"
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#include "cereal/visionipc/visionipc.h"
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#include "cereal/visionipc/visionbuf.h"
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class VisionIpcClient {
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private:
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std::string name;
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Context * msg_ctx;
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SubSocket * sock;
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Poller * poller;
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cl_device_id device_id = nullptr;
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cl_context ctx = nullptr;
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void init_msgq(bool conflate);
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public:
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bool connected = false;
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VisionStreamType type;
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int num_buffers = 0;
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VisionBuf buffers[VISIONIPC_MAX_FDS];
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VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
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~VisionIpcClient();
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VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
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bool connect(bool blocking=true);
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bool is_connected() { return connected; }
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static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
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};
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