89 lines
2.3 KiB
C++
89 lines
2.3 KiB
C++
#pragma once
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#include <atomic>
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#include <cstdint>
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#include <memory>
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#include <mutex>
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#include <set>
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#include <string>
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#include <thread>
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#include <utility>
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#include <vector>
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#include "imgui.h"
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#include "imgui_internal.h"
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#include "cereal/visionstream.h"
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#include "tools/cabana/core/observable.h"
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#include "msgq/visionipc/visionipc_client.h"
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struct RgbImage {
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int width = 0;
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int height = 0;
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std::vector<uint8_t> data;
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bool isNull() const { return data.empty(); }
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void reset() { width = height = 0; data.clear(); }
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void resize(int w, int h) { width = w; height = h; data.resize(size_t(w) * h * 4); }
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int bytesPerLine() const { return width * 4; }
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void swap(RgbImage &other) { std::swap(width, other.width); std::swap(height, other.height); data.swap(other.data); }
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};
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struct GlTexture {
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GlTexture() = default;
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GlTexture(const GlTexture &) = delete;
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GlTexture &operator=(const GlTexture &) = delete;
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~GlTexture() { destroy(); }
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void upload(const RgbImage &image);
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void destroy();
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ImTextureRef ref() const { return ImTextureRef((ImTextureID)(uintptr_t)id); }
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unsigned int id = 0;
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int width = 0;
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int height = 0;
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uint64_t key = 0;
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bool mipmap = false;
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};
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class CameraWidget {
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public:
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explicit CameraWidget(std::string stream_name, VisionStreamType stream_type);
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~CameraWidget();
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void setStreamType(VisionStreamType type) { requested_stream_type_ = type; }
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void stopVipcThread();
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void setVisible(bool visible);
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void draw(const ImVec2 &size);
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const ImRect &rect() const { return rect_; }
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float frameAspectRatio() const;
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float width() const { return rect_.GetWidth(); }
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float height() const { return rect_.GetHeight(); }
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Observable<> clicked;
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Observable<std::set<VisionStreamType>> availableStreamsUpdated;
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private:
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void paint();
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void startVipcThread();
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void vipcThread();
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void clearFrames();
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ImU32 bg_ = IM_COL32(0, 0, 0, 255);
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RgbImage rgb_frame_;
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RgbImage rgb_back_;
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bool frame_updated_ = false;
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GlTexture frame_texture_;
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ImRect rect_;
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bool visible_ = false;
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std::string stream_name_;
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std::atomic<VisionStreamType> active_stream_type_;
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std::atomic<VisionStreamType> requested_stream_type_;
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std::thread vipc_thread_;
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std::atomic<bool> vipc_exit_ = false;
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std::mutex frame_lock_;
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std::shared_ptr<bool> alive_ = std::make_shared<bool>(true);
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};
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