commit dc52475b12c2fb450ca871768d1dfff1022e02ba
author Ravago Jones <ravagojones@gmail.com> Tue Dec 27 01:15:13 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Jan 02 20:47:03 2023 -0800
tree d929dea99d4d613577ad7f02b93f0f9fdcaf4174
parent dfc87496c469cb3abb50ef0bbdc5a909be2fb8d1

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

y2023/vision/camera_reader.cc

diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index 965296f..0e86c32 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -13,34 +13,6 @@
 
 using namespace frc971::vision;
 
-class CameraReader {
- public:
-  CameraReader(aos::EventLoop *event_loop, V4L2ReaderBase *reader)
-      : event_loop_(event_loop),
-        reader_(reader),
-        read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })) {
-    event_loop->OnRun(
-        [this]() { read_image_timer_->Setup(event_loop_->monotonic_now()); });
-  }
-
-  void ReadImage() {
-    if (!reader_->ReadLatestImage()) {
-      read_image_timer_->Setup(event_loop_->monotonic_now() +
-                               std::chrono::milliseconds(10));
-      return;
-    }
-    reader_->SendLatestImage();
-
-    read_image_timer_->Setup(event_loop_->monotonic_now());
-  }
-
- private:
-  aos::EventLoop *event_loop_;
-  V4L2ReaderBase *reader_;
-
-  aos::TimerHandler *const read_image_timer_;
-};
-
 void CameraReaderMain() {
   std::optional<MediaDevice> media_device = FindMediaDevice("platform:rkisp1");
 
@@ -105,7 +77,8 @@
 
   event_loop.SetRuntimeRealtimePriority(55);
 
-  RockchipV4L2Reader v4l2_reader(&event_loop, rkisp1_selfpath->device());
+  RockchipV4L2Reader v4l2_reader(&event_loop, event_loop.epoll(),
+                                 rkisp1_selfpath->device());
 
   // TODO(austin): Figure out exposure and stuff.
   /*
@@ -122,8 +95,6 @@
   }
   */
 
-  CameraReader camera_reader(&event_loop, &v4l2_reader);
-
   event_loop.Run();
 }