mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-03-01 15:33:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

openpilot v0.9.4 release

Browse Source 
date: 2023-07-27T18:38:32
master commit: fa310d9e25
This commit is contained in:
Vehicle Researcher
2023-09-27 15:45:31 -07:00
commit eff388b1b6
1854 changed files with 647975 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
system/loggerd/encoder/encoder.cc Normal file
View File

@@ -0,0 +1,34 @@
#include "system/loggerd/encoder/encoder.h"
VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
: encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
pm.reset(new PubMaster({encoder_info.publish_name}));
}
void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
// broadcast packet
MessageBuilder msg;
auto event = msg.initEvent(true);
auto edat = (event.*(e->encoder_info.init_encode_data_func))();
auto edata = edat.initIdx();
struct timespec ts;
timespec_get(&ts, TIME_UTC);
edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
edata.setFrameId(extra.frame_id);
edata.setTimestampSof(extra.timestamp_sof);
edata.setTimestampEof(extra.timestamp_eof);
edata.setType(e->encoder_info.encode_type);
edata.setEncodeId(e->cnt++);
edata.setSegmentNum(segment_num);
edata.setSegmentId(idx);
edata.setFlags(flags);
edata.setLen(dat.size());
edat.setData(dat);
if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
auto bytes = words->asBytes();
e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size());
delete words;
}