import numpy as np
import os
import pyopencl as cl
import pyopencl.array as cl_array
from cereal.visionipc import VisionIpcServer, VisionStreamType
from cereal import messaging
from openpilot.common.basedir import BASEDIR
from openpilot.tools.sim.lib.common import W, H
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class Camerad:
"""Simulates the camerad daemon"""
def __init__(self, dual_camera):
self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState'])
self.frame_road_id = 0
self.frame_wide_id = 0
self.vipc_server = VisionIpcServer("camerad")
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
if dual_camera:
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
self.vipc_server.start_listener()
# set up for pyopencl rgb to yuv conversion
self.ctx = cl.create_some_context()
self.queue = cl.CommandQueue(self.ctx)
cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
with open(kernel_fn) as f:
prg = cl.Program(self.ctx, f.read()).build(cl_arg)
self.krnl = prg.rgb_to_nv12
self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
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def cam_send_yuv_road(self, yuv):
self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
self.frame_road_id += 1
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def cam_send_yuv_wide_road(self, yuv):
self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
self.frame_wide_id += 1
# Returns: yuv bytes
[docs]
def rgb_to_yuv(self, rgb):
assert rgb.shape == (H, W, 3), f"{rgb.shape}"
assert rgb.dtype == np.uint8
rgb_cl = cl_array.to_device(self.queue, rgb)
yuv_cl = cl_array.empty_like(rgb_cl)
self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait()
yuv = np.resize(yuv_cl.get(), rgb.size // 2)
return yuv.data.tobytes()
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)