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https://github.com/sunnypilot/sunnypilot.git
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7119a98414
* 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>
old-commit-hash: 0baa4c3e2a
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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