You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
80 lines
2.9 KiB
80 lines
2.9 KiB
4 years ago
|
#include <cassert>
|
||
|
|
#include "selfdrive/loggerd/encoder/encoder.h"
|
||
|
|
|
||
|
|
VideoEncoder::~VideoEncoder() {}
|
||
|
|
|
||
|
|
void VideoEncoder::publisher_init() {
|
||
|
|
// publish
|
||
|
|
service_name = this->type == DriverCam ? "driverEncodeData" :
|
||
|
|
(this->type == WideRoadCam ? "wideRoadEncodeData" :
|
||
|
|
(this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData"));
|
||
|
|
pm.reset(new PubMaster({service_name}));
|
||
|
|
}
|
||
|
|
|
||
|
|
void VideoEncoder::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) {
|
||
|
|
// broadcast packet
|
||
|
|
MessageBuilder msg;
|
||
|
|
auto event = msg.initEvent(true);
|
||
|
|
auto edat = (e->type == DriverCam) ? event.initDriverEncodeData() :
|
||
|
|
((e->type == WideRoadCam) ? event.initWideRoadEncodeData() :
|
||
|
|
(e->in_width == e->out_width ? event.initRoadEncodeData() : event.initQRoadEncodeData()));
|
||
|
|
auto edata = edat.initIdx();
|
||
|
|
edata.setFrameId(extra.frame_id);
|
||
|
|
edata.setTimestampSof(extra.timestamp_sof);
|
||
|
|
edata.setTimestampEof(extra.timestamp_eof);
|
||
|
|
edata.setType(e->codec);
|
||
|
|
edata.setEncodeId(idx);
|
||
|
|
edata.setSegmentNum(segment_num);
|
||
|
|
edata.setSegmentId(idx);
|
||
|
|
edata.setFlags(flags);
|
||
|
|
edata.setLen(dat.size());
|
||
|
|
edat.setData(dat);
|
||
|
|
if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
|
||
|
|
|
||
|
|
auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
|
||
|
|
auto bytes = words->asBytes();
|
||
|
|
e->pm->send(e->service_name, bytes.begin(), bytes.size());
|
||
|
|
if (e->write) {
|
||
|
|
e->to_write.push(words);
|
||
|
|
} else {
|
||
|
|
delete words;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// TODO: writing should be moved to loggerd
|
||
|
|
void VideoEncoder::write_handler(VideoEncoder *e, const char *path) {
|
||
|
|
VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec);
|
||
|
|
|
||
|
|
bool first = true;
|
||
|
|
kj::Array<capnp::word>* out_buf;
|
||
|
|
while ((out_buf = e->to_write.pop())) {
|
||
|
|
capnp::FlatArrayMessageReader cmsg(*out_buf);
|
||
|
|
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
||
|
|
|
||
|
|
auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() :
|
||
|
|
((e->type == WideRoadCam) ? event.getWideRoadEncodeData() :
|
||
|
|
(e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData()));
|
||
|
|
auto idx = edata.getIdx();
|
||
|
|
auto flags = idx.getFlags();
|
||
|
|
|
||
|
|
if (first) {
|
||
|
|
assert(flags & V4L2_BUF_FLAG_KEYFRAME);
|
||
|
|
auto header = edata.getHeader();
|
||
|
|
writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
|
||
|
|
first = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
// dangerous cast from const, but should be fine
|
||
|
|
auto data = edata.getData();
|
||
|
|
if (data.size() > 0) {
|
||
|
|
writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
|
||
|
|
}
|
||
|
|
|
||
|
|
// free the data
|
||
|
|
delete out_buf;
|
||
|
|
}
|
||
|
|
|
||
|
|
// VideoWriter is freed on out of scope
|
||
|
|
}
|