commit b84f206d4e286d884492c290eec9ce1d85f6cf57
author Ravago Jones <ravagojones@gmail.com> Sun Jan 29 13:46:59 2023 -0800
committer Ravago Jones <ravagojones@gmail.com> Sun Jan 29 13:46:59 2023 -0800
tree 7f72398bd67a3e41285fe0d56b33347221bd3473
parent 5e2775c877aeebfe194d844cb604a0df0a75585e

Split aprilrobotics into a library

This will allow the mapping class to instantiate a
AprilRoboticsDetector with the log reader event loop.
Also made this code compatible with x86.

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ie05bc947710fa1a456fd08db1e1d40ffb9f71119

y2023/vision/aprilrobotics_main.cc

diff --git a/y2023/vision/aprilrobotics_main.cc b/y2023/vision/aprilrobotics_main.cc
new file mode 100644
index 0000000..67b853f
--- /dev/null
+++ b/y2023/vision/aprilrobotics_main.cc
@@ -0,0 +1,34 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2023/vision/aprilrobotics.h"
+
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+
+namespace y2023::vision {
+void AprilViewerMain() {
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(FLAGS_config);
+
+  aos::ShmEventLoop event_loop(&config.message());
+
+  AprilRoboticsDetector detector(&event_loop, "/camera");
+
+  detector.SetWorkerpoolAffinities();
+
+  event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({5}));
+
+  struct sched_param param;
+  param.sched_priority = 21;
+  PCHECK(sched_setscheduler(0, SCHED_FIFO, &param) == 0);
+
+  event_loop.Run();
+}
+
+}  // namespace y2023::vision
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+  y2023::vision::AprilViewerMain();
+
+  return 0;
+}