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112 lines
3.8 KiB
112 lines
3.8 KiB
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
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#include <cassert>
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#include "system/loggerd/video_writer.h"
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#include "common/swaglog.h"
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#include "common/util.h"
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VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec)
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: remuxing(remuxing) {
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vid_path = util::string_format("%s/%s", path, filename);
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lock_path = util::string_format("%s/%s.lock", path, filename);
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int lock_fd = HANDLE_EINTR(open(lock_path.c_str(), O_RDWR | O_CREAT, 0664));
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assert(lock_fd >= 0);
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close(lock_fd);
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LOGD("encoder_open %s remuxing:%d", this->vid_path.c_str(), this->remuxing);
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if (this->remuxing) {
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bool raw = (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS);
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avformat_alloc_output_context2(&this->ofmt_ctx, NULL, raw ? "matroska" : NULL, this->vid_path.c_str());
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assert(this->ofmt_ctx);
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// set codec correctly. needed?
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assert(codec != cereal::EncodeIndex::Type::FULL_H_E_V_C);
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const AVCodec *avcodec = avcodec_find_encoder(raw ? AV_CODEC_ID_FFVHUFF : AV_CODEC_ID_H264);
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assert(avcodec);
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this->codec_ctx = avcodec_alloc_context3(avcodec);
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assert(this->codec_ctx);
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this->codec_ctx->width = width;
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this->codec_ctx->height = height;
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this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
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this->codec_ctx->time_base = (AVRational){ 1, fps };
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if (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS) {
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// without this, there's just noise
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int err = avcodec_open2(this->codec_ctx, avcodec, NULL);
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assert(err >= 0);
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}
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this->out_stream = avformat_new_stream(this->ofmt_ctx, raw ? avcodec : NULL);
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assert(this->out_stream);
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int err = avio_open(&this->ofmt_ctx->pb, this->vid_path.c_str(), AVIO_FLAG_WRITE);
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assert(err >= 0);
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} else {
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this->of = util::safe_fopen(this->vid_path.c_str(), "wb");
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assert(this->of);
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}
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}
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void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) {
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if (of && data) {
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size_t written = util::safe_fwrite(data, 1, len, of);
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if (written != len) {
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LOGE("failed to write file.errno=%d", errno);
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}
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}
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if (remuxing) {
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if (codecconfig) {
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if (len > 0) {
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codec_ctx->extradata = (uint8_t*)av_mallocz(len + AV_INPUT_BUFFER_PADDING_SIZE);
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codec_ctx->extradata_size = len;
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memcpy(codec_ctx->extradata, data, len);
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}
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int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
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assert(err >= 0);
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err = avformat_write_header(ofmt_ctx, NULL);
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assert(err >= 0);
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} else {
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// input timestamps are in microseconds
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AVRational in_timebase = {1, 1000000};
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AVPacket pkt;
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av_init_packet(&pkt);
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pkt.data = data;
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pkt.size = len;
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enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
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pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd);
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pkt.duration = av_rescale_q(50*1000, in_timebase, ofmt_ctx->streams[0]->time_base);
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if (keyframe) {
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pkt.flags |= AV_PKT_FLAG_KEY;
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}
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// TODO: can use av_write_frame for non raw?
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int err = av_interleaved_write_frame(ofmt_ctx, &pkt);
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if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lld", len, timestamp); }
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av_packet_unref(&pkt);
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}
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}
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}
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VideoWriter::~VideoWriter() {
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if (this->remuxing) {
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int err = av_write_trailer(this->ofmt_ctx);
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if (err != 0) LOGE("av_write_trailer failed %d", err);
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avcodec_free_context(&this->codec_ctx);
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err = avio_closep(&this->ofmt_ctx->pb);
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if (err != 0) LOGE("avio_closep failed %d", err);
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avformat_free_context(this->ofmt_ctx);
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} else {
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util::safe_fflush(this->of);
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fclose(this->of);
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this->of = nullptr;
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}
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unlink(this->lock_path.c_str());
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}
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