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Encoderd: give every camera stream list of encoder streams (#28480)

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* Compiles

* fixed something

* CLEANUP

* todo

* More cleanup

* Add TODO

* Update loggerd.cc

* remove write here too
This commit is contained in:
Harald Schäfer
2023-06-11 22:23:40 -07:00
committed by GitHub
parent d8f677c5eb
commit ac45b77d3b
7 changed files with 89 additions and 86 deletions
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4
system/loggerd/encoder/encoder.cc
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@@ -5,9 +5,7 @@ VideoEncoder::~VideoEncoder() {}
void VideoEncoder::publisher_init() {
// publish
service_name = this->type == DriverCam ? "driverEncodeData" :
(this->type == WideRoadCam ? "wideRoadEncodeData" :
(this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData"));
service_name = this->publish_name;
pm.reset(new PubMaster({service_name}));
}

7
system/loggerd/encoder/encoder.h
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@@ -14,9 +14,11 @@
class VideoEncoder {
public:
VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height)
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height,
const char* publish_name)
: filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height) { }
bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height),
publish_name(publish_name) { }
virtual ~VideoEncoder();
virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
virtual void encoder_open(const char* path) = 0;
@@ -28,6 +30,7 @@ public:
protected:
const char* filename;
const char* publish_name;
int in_width, in_height;
int out_width, out_height, fps;
int bitrate;

6
system/loggerd/encoder/ffmpeg_encoder.h
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@@ -17,8 +17,10 @@ extern "C" {
class FfmpegEncoder : public VideoEncoder {
public:
FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height) :
VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height) { encoder_init(); }
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height,
const char* publish_name) :
VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, publish_name) { encoder_init(); }
~FfmpegEncoder();
void encoder_init();
int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);

4
system/loggerd/encoder/v4l_encoder.h
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@@ -9,8 +9,8 @@
class V4LEncoder : public VideoEncoder {
public:
V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height) :
VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height) { encoder_init(); }
int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, const char* publish_name) :
VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, publish_name) { encoder_init(); }
~V4LEncoder();
void encoder_init();
int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);