mirror of
https://github.com/sunnypilot/sunnypilot.git
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0baa4c3e2a
* start v4l encoder * v4l encoder starts * start and stop * fill in proper controls * it dequeued a buffer * getting bytes * it made a video * it does make files * getting close * ahh, so that's how dequeue works * qcam works (no remuxing) * remuxing works * we just need to make shutdown and rollover graceful * graceful destruction * switch to polling * should work now * fix pc build * refactors, stop properly * touchups, remove a copy * add v4l encoder to release * inlcude file * move writing to it's own thread * fix minor memory leak * block instead of dropping frames * add counter, fix tests maybe * better debugging and test print * print file path in assert * format string in test * no more oversized qlogs * match qcam * touchups, remove omx encoder * remove omx include files * checked ioctl, better debugging, open by name * unused import * move linux includes to third_party/linux/include * simple encoderd * full packet * encoderd should be complete * lagging print * updates * name dq thread * subset idx * video file writing works * debug * potential bugfix * rotation works * iframe * keep writing support * ci should pass * loggerd, not encoderd * remote encoder code * support remote encoder * cereal to master, add encoderd * header no longer required * put that back there * realtime * lower decoder latency * don't use queue for VisionIpcBufExtra, disable realtime again * assert all written * hmm simpler * only push to to_write if we are writing * assert timestamp is right * use at and remove assert * revert to queue Co-authored-by: Comma Device <device@comma.ai>
49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
#pragma once
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#include "selfdrive/common/queue.h"
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#include "selfdrive/loggerd/encoder.h"
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#include "selfdrive/loggerd/loggerd.h"
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#include "selfdrive/loggerd/video_writer.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 width, int height, int fps, int bitrate, bool h265, int out_width, int out_height, bool write = true);
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~V4LEncoder();
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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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const char* filename;
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CameraType type;
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unsigned int in_width_, in_height_;
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bool h265;
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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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std::unique_ptr<PubMaster> pm;
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const char *service_name;
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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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SafeQueue<VisionIpcBufExtra> extras;
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// writing support
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int width, height, fps;
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bool write;
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static void write_handler(V4LEncoder *e, const char *path);
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std::thread write_handler_thread;
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SafeQueue<kj::Array<capnp::word>* > to_write;
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};
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