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40 lines
1.5 KiB
40 lines
1.5 KiB
#include <cassert>
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#include "system/loggerd/encoder/encoder.h"
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VideoEncoder::~VideoEncoder() {}
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void VideoEncoder::publisher_init() {
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// publish
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service_name = this->publish_name;
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pm.reset(new PubMaster({service_name}));
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}
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void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
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unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
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// broadcast packet
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MessageBuilder msg;
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auto event = msg.initEvent(true);
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auto edat = (e->type == DriverCam) ? event.initDriverEncodeData() :
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((e->type == WideRoadCam) ? event.initWideRoadEncodeData() :
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(e->in_width == e->out_width ? event.initRoadEncodeData() : event.initQRoadEncodeData()));
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auto edata = edat.initIdx();
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struct timespec ts;
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timespec_get(&ts, TIME_UTC);
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edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
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edata.setFrameId(extra.frame_id);
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edata.setTimestampSof(extra.timestamp_sof);
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edata.setTimestampEof(extra.timestamp_eof);
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edata.setType(e->codec);
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edata.setEncodeId(e->cnt++);
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edata.setSegmentNum(segment_num);
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edata.setSegmentId(idx);
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edata.setFlags(flags);
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edata.setLen(dat.size());
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edat.setData(dat);
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if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
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auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
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auto bytes = words->asBytes();
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e->pm->send(e->service_name, bytes.begin(), bytes.size());
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delete words;
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}
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