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openpilot v0.9.7 release

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date: 2024-06-11T01:36:39
master commit: f8cb04e4a8
This commit is contained in:
Vehicle Researcher
2024-06-11 01:36:40 +00:00
parent fa724893fb
commit d64fb1838d
1014 changed files with 40763 additions and 16667 deletions
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20
system/loggerd/encoder/encoder.cc
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@@ -6,7 +6,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
pm.reset(new PubMaster({encoder_info.publish_name}));
std::vector pubs = {encoder_info.publish_name};
if (encoder_info.thumbnail_name != NULL) {
pubs.push_back(encoder_info.thumbnail_name);
}
pm.reset(new PubMaster(pubs));
}
void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@@ -40,4 +45,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
capnp::writeMessage(output_stream, msg);
e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
}
// Publish keyframe thumbnail
if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) {
MessageBuilder tm;
auto thumbnail = tm.initEvent().initThumbnail();
thumbnail.setFrameId(extra.frame_id);
thumbnail.setTimestampEof(extra.timestamp_eof);
thumbnail.setThumbnail(dat);
thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
pm->send(e->encoder_info.thumbnail_name, tm);
}
}