sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/tools/replay/camera.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <memory>
+#include <set>
+#include <tuple>
+#include <utility>
+
+#include "msgq/visionipc/visionipc_server.h"
+#include "common/queue.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/logreader.h"
+
+class CameraServer {
+public:
+  CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
+  ~CameraServer();
+  void pushFrame(CameraType type, FrameReader* fr, const Event *event);
+  void waitForSent();
+
+protected:
+  struct Camera {
+    CameraType type;
+    VisionStreamType stream_type;
+    int width;
+    int height;
+    std::thread thread;
+    SafeQueue<std::pair<FrameReader*, const Event *>> queue;
+    std::set<VisionBuf *> cached_buf;
+  };
+  void startVipcServer();
+  void cameraThread(Camera &cam);
+  VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
+
+  Camera cameras_[MAX_CAMERAS] = {
+      {.type = RoadCam, .stream_type = VISION_STREAM_ROAD},
+      {.type = DriverCam, .stream_type = VISION_STREAM_DRIVER},
+      {.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD},
+  };
+  std::atomic<int> publishing_ = 0;
+  std::unique_ptr<VisionIpcServer> vipc_server_;
+};