Make v4l2_reader use epoll
It no longer needs to be polled in a loop
and sends images directly to the channel
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I8fc3efc3fd2cd67836294d9dc47d5342cd7d5de4
diff --git a/frc971/vision/v4l2_reader.cc b/frc971/vision/v4l2_reader.cc
index f3640db..e549ae5 100644
--- a/frc971/vision/v4l2_reader.cc
+++ b/frc971/vision/v4l2_reader.cc
@@ -302,9 +302,19 @@
}
RockchipV4L2Reader::RockchipV4L2Reader(aos::EventLoop *event_loop,
+ aos::internal::EPoll *epoll,
const std::string &device_name)
- : V4L2ReaderBase(event_loop, device_name) {
+ : V4L2ReaderBase(event_loop, device_name), epoll_(epoll) {
StreamOn();
+ epoll_->OnReadable(fd().get(), [this]() { OnImageReady(); });
+}
+
+void RockchipV4L2Reader::OnImageReady() {
+ if (!ReadLatestImage()) {
+ return;
+ }
+
+ SendLatestImage();
}
} // namespace vision