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62 lines
1.9 KiB
62 lines
1.9 KiB
#pragma once
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#include <cassert>
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#include <cstdint>
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#include <thread>
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#include "cereal/messaging/messaging.h"
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#include "cereal/visionipc/visionipc.h"
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#include "common/queue.h"
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#include "selfdrive/loggerd/video_writer.h"
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#include "selfdrive/camerad/cameras/camera_common.h"
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#define V4L2_BUF_FLAG_KEYFRAME 8
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class VideoEncoder {
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public:
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VideoEncoder(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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: filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
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bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { }
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virtual ~VideoEncoder();
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virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
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virtual void encoder_open(const char* path) = 0;
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virtual void encoder_close() = 0;
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void publisher_init();
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static void 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);
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void writer_open(const char* path) {
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if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path);
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}
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void writer_close() {
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if (this->write) {
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to_write.push(NULL);
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write_handler_thread.join();
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}
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assert(to_write.empty());
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}
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protected:
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bool write;
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const char* filename;
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int in_width, in_height;
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int out_width, out_height, fps;
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int bitrate;
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cereal::EncodeIndex::Type codec;
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CameraType type;
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private:
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// total frames encoded
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int cnt = 0;
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// publishing
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std::unique_ptr<PubMaster> pm;
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const char *service_name;
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// writing support
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static void write_handler(VideoEncoder *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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