loggerd: remove vipc arg from encode frame

selfdrive/loggerd/encoder.h

@@ -2,14 +2,12 @@
 
 #include <cstdint>
 
-#include "visionipc.h"
-
 class VideoEncoder {
 public:
   virtual ~VideoEncoder() {}
   virtual int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
-                   int in_width, int in_height,
+                           int in_width, int in_height,
-                   int *frame_segment, VisionIpcBufExtra *extra) = 0;
+                           int *frame_segment, uint64_t ts) = 0;
   virtual void encoder_open(const char* path, int segment) = 0;
   virtual void encoder_close() = 0;
 };

selfdrive/loggerd/loggerd.cc

@@ -270,12 +270,12 @@ void encoder_thread(int cam_idx) {
         int out_segment = -1;
         int out_id = encoders[0]->encode_frame(buf->y, buf->u, buf->v,
                                                buf->width, buf->height,
-                                               &out_segment, &extra);
+                                               &out_segment, extra.timestamp_eof);
         if (encoders.size() > 1) {
           int out_segment_alt = -1;
           encoders[1]->encode_frame(buf->y, buf->u, buf->v,
                                     buf->width, buf->height,
-                                    &out_segment_alt, &extra);
+                                    &out_segment_alt, extra.timestamp_eof);
         }
 
         // publish encode index

selfdrive/loggerd/omx_encoder.cc

@@ -406,7 +406,7 @@ void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
 
 int OmxEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                              int in_width, int in_height,
-                             int *frame_segment, VisionIpcBufExtra *extra) {
+                             int *frame_segment, uint64_t ts) {
   int err;
   pthread_mutex_lock(&this->lock);
 
@@ -458,7 +458,7 @@ int OmxEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const u
   in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
   in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
   in_buf->nOffset = 0;
-  in_buf->nTimeStamp = extra->timestamp_eof/1000LL;  // OMX_TICKS, in microseconds
+  in_buf->nTimeStamp = ts/1000LL;  // OMX_TICKS, in microseconds
   this->last_t = in_buf->nTimeStamp;
 
   OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));

selfdrive/loggerd/omx_encoder.h

@@ -14,7 +14,6 @@ extern "C" {
 
 #include "encoder.h"
 #include "common/cqueue.h"
-#include "visionipc.h"
 
 // OmxEncoder, lossey codec using hardware hevc
 class OmxEncoder : public VideoEncoder {
@@ -23,7 +22,7 @@ public:
   ~OmxEncoder();
   int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                    int in_width, int in_height,
-                   int *frame_segment, VisionIpcBufExtra *extra);
+                   int *frame_segment, uint64_t ts);
   void encoder_open(const char* path, int segment);
   void encoder_close();
 

selfdrive/loggerd/raw_logger.cc

@@ -129,7 +129,7 @@ void RawLogger::encoder_close() {
 
 int RawLogger::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                             int in_width, int in_height,
-                            int *frame_segment, VisionIpcBufExtra *extra) {
+                            int *frame_segment, uint64_t ts) {
   int err = 0;
 
   AVPacket pkt;
@@ -140,7 +140,7 @@ int RawLogger::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const ui
   frame->data[0] = (uint8_t*)y_ptr;
   frame->data[1] = (uint8_t*)u_ptr;
   frame->data[2] = (uint8_t*)v_ptr;
-  frame->pts = extra->timestamp_eof;
+  frame->pts = ts;
 
   int ret = counter;
 

selfdrive/loggerd/raw_logger.h

@@ -1,5 +1,4 @@
-#ifndef FFV1LOGGER_H
+#pragma once
-#define FFV1LOGGER_H
 
 #include <cstdio>
 #include <cstdlib>
@@ -24,7 +23,7 @@ public:
   ~RawLogger();
   int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                    int in_width, int in_height,
-                   int *frame_segment, VisionIpcBufExtra *extra);
+                   int *frame_segment, uint64_t ts);
   void encoder_open(const char* path, int segment);
   void encoder_close();
 
@@ -47,5 +46,3 @@ private:
 
   AVFrame *frame = NULL;
 };
-
-#endif