mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-22 21:13:52 +08:00
94b9972eb7
* enable encoderd * correct enable line * fix loggerd tests * fix power draw and cpu tests * correct cpu for encoderd * fix a bug, video_writer is shared * fix issue with not recording dcam * add recording state * wooo tests pass. encode id keeps counting * core 3 * loggerd then encoderd * stop loggerd first * core 3 always online * see the camera when we see encoder packet * encoderd on small core uses 37% * remove encoder logic from loggerd * delete unit test that doesn't really make sense anymore Co-authored-by: Comma Device <device@comma.ai>
36 lines
1.1 KiB
C++
36 lines
1.1 KiB
C++
#pragma once
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#include "selfdrive/common/queue.h"
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#include "selfdrive/loggerd/encoder/encoder.h"
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#define BUF_IN_COUNT 7
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#define BUF_OUT_COUNT 6
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class V4LEncoder : public VideoEncoder {
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public:
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V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
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int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) :
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VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); }
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~V4LEncoder();
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void encoder_init();
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int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
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int in_width, int in_height, VisionIpcBufExtra *extra);
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void encoder_open(const char* path);
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void encoder_close();
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private:
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int fd;
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bool is_open = false;
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int segment_num = -1;
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int counter = 0;
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SafeQueue<VisionIpcBufExtra> extras;
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static void dequeue_handler(V4LEncoder *e);
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std::thread dequeue_handler_thread;
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VisionBuf buf_in[BUF_IN_COUNT];
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VisionBuf buf_out[BUF_OUT_COUNT];
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SafeQueue<unsigned int> free_buf_in;
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};
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