encoderd: publish i-frame as thumbnail (#32202)

* pusblish i-frame as thumbnail

* generic

* disable for now

* fix

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: b742776bff

cereal

@@ -1 +1 @@
-Subproject commit 591e389bf8e31f6f6ab921ec6598cafa53c19d36
+Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49

system/loggerd/encoder/encoder.cc

@@ -6,7 +6,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
   out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
   out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
 
-  pm.reset(new PubMaster({encoder_info.publish_name}));
+
+  std::vector pubs = {encoder_info.publish_name};
+  if (encoder_info.thumbnail_name != NULL) {
+    pubs.push_back(encoder_info.thumbnail_name);
+  }
+  pm.reset(new PubMaster(pubs));
 }
 
 void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@@ -40,4 +45,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
   capnp::writeMessage(output_stream, msg);
   e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
-}
+
+  // Publish keyframe thumbnail
+  if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) {
+    MessageBuilder tm;
+    auto thumbnail = tm.initEvent().initThumbnail();
+    thumbnail.setFrameId(extra.frame_id);
+    thumbnail.setTimestampEof(extra.timestamp_eof);
+    thumbnail.setThumbnail(dat);
+    thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
+    pm->send(e->encoder_info.thumbnail_name, tm);
+  }
+}

system/loggerd/encoder/encoder.h

@@ -25,6 +25,8 @@ public:
   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);
 
 protected:
+  void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
+
   int in_width, in_height;
   int out_width, out_height;
   const EncoderInfo encoder_info;

system/loggerd/loggerd.h

@@ -33,6 +33,7 @@ constexpr char PRESERVE_ATTR_VALUE = '1';
 class EncoderInfo {
 public:
   const char *publish_name;
+  const char *thumbnail_name = NULL;
   const char *filename = NULL;
   bool record = true;
   int frame_width = -1;
@@ -76,6 +77,7 @@ const EncoderInfo main_driver_encoder_info = {
 
 const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
+  //.thumbnail_name = "thumbnail",
   .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
   .bitrate = LIVESTREAM_BITRATE,