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Encoderd: refactor msg getters and setters (#28509)

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* Encoderd: refactor msg getters and setters

* whitespace

* whitespace

* whitespace
old-commit-hash: 2453d3a04b
This commit is contained in:
Harald Schäfer
2023-06-12 00:08:00 -07:00
committed by GitHub
parent f4bf6a3ddd
commit e841a5ef81
2 changed files with 12 additions and 9 deletions
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11
system/loggerd/loggerd.cc
View File

@@ -64,10 +64,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
// extract the message
capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
auto event = cmsg.getRoot<cereal::Event>();
// TODO this should be dealt with generically
auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData()));
auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx();
auto flags = idx.getFlags();
@@ -140,11 +137,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
// TODO this should be dealt with generically
if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); }
if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); }
if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); }
if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); }
(evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes();
logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
bytes_count += new_msg.size();

10
system/loggerd/loggerd.h
View File

@@ -51,6 +51,8 @@ public:
int fps = MAIN_FPS;
int bitrate = MAIN_BITRATE;
cereal::EncodeIndex::Type encode_type = cereal::EncodeIndex::Type::FULL_H_E_V_C;
::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
};
class LogCameraInfo {
@@ -65,15 +67,21 @@ public:
const EncoderInfo main_road_encoder_info = {
.publish_name = "roadEncodeData",
.filename = "fcamera.hevc",
.get_encode_data_func = &cereal::Event::Reader::getRoadEncodeData,
.set_encode_idx_func = &cereal::Event::Builder::setRoadEncodeIdx,
};
const EncoderInfo main_wide_road_encoder_info = {
.publish_name = "wideRoadEncodeData",
.filename = "ecamera.hevc",
.get_encode_data_func = &cereal::Event::Reader::getWideRoadEncodeData,
.set_encode_idx_func = &cereal::Event::Builder::setWideRoadEncodeIdx,
};
const EncoderInfo main_driver_encoder_info = {
.publish_name = "driverEncodeData",
.filename = "dcamera.hevc",
.record = Params().getBool("RecordFront"),
.get_encode_data_func = &cereal::Event::Reader::getDriverEncodeData,
.set_encode_idx_func = &cereal::Event::Builder::setDriverEncodeIdx,
};
const EncoderInfo qcam_encoder_info = {
@@ -83,6 +91,8 @@ const EncoderInfo qcam_encoder_info = {
.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
.frame_width = 526,
.frame_height = 330,
.get_encode_data_func = &cereal::Event::Reader::getQRoadEncodeData,
.set_encode_idx_func = &cereal::Event::Builder::setQRoadEncodeIdx,
};