57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
#pragma once
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#include <atomic>
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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 <QImage>
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#include <QWidget>
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#include "cereal/visionstream.h"
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#include "msgq/visionipc/visionipc_client.h"
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class CameraWidget : public QWidget {
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Q_OBJECT
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public:
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explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
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~CameraWidget();
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void setStreamType(VisionStreamType type) { requested_stream_type = type; }
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VisionStreamType getStreamType() { return active_stream_type; }
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void stopVipcThread();
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signals:
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void clicked();
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void vipcThreadFrameReceived();
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void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
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protected:
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void paintEvent(QPaintEvent *event) override;
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void showEvent(QShowEvent *event) override;
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void hideEvent(QHideEvent *event) override { stopVipcThread(); }
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void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
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void vipcThread();
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void clearFrames();
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QColor bg = Qt::black;
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QImage rgb_frame; // written by vipc thread, drawn by GUI thread; guarded by frame_lock
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QImage rgb_back; // vipc thread only
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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::set<VisionStreamType> available_streams;
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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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protected slots:
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void vipcFrameReceived();
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void availableStreamsUpdated(std::set<VisionStreamType> streams);
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};
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Q_DECLARE_METATYPE(std::set<VisionStreamType>);
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