encoder: remove function `publisher_init`, init PubMaster in constructor (#28980)

old-commit-hash: 65fe3c8c34

system/loggerd/encoder/encoder.cc

@@ -1,10 +1,7 @@
-#include <cassert>
 #include "system/loggerd/encoder/encoder.h"
 
-VideoEncoder::~VideoEncoder() {}
-
-void VideoEncoder::publisher_init() {
-  // publish
+VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
   pm.reset(new PubMaster({encoder_info.publish_name}));
 }
 

system/loggerd/encoder/encoder.h

@@ -14,14 +14,12 @@
 
 class VideoEncoder {
 public:
-  VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
-     : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {}
-  virtual ~VideoEncoder();
+  VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  virtual ~VideoEncoder() {};
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open(const char* path) = 0;
   virtual void encoder_close() = 0;
 
-  void publisher_init();
   static 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);
 
 
@@ -32,7 +30,5 @@ protected:
 private:
   // total frames encoded
   int cnt = 0;
-
-  // publishing
   std::unique_ptr<PubMaster> pm;
 };

system/loggerd/encoder/ffmpeg_encoder.cc

@@ -40,8 +40,6 @@ FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int
   if (in_width != encoder_info.frame_width || in_height != encoder_info.frame_height) {
     downscale_buf.resize(encoder_info.frame_width * encoder_info.frame_height * 3 / 2);
   }
-
-  publisher_init();
 }
 
 FfmpegEncoder::~FfmpegEncoder() {

system/loggerd/encoder/v4l_encoder.cc

@@ -251,8 +251,6 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   for (unsigned int i = 0; i < BUF_IN_COUNT; i++) {
     free_buf_in.push(i);
   }
-
-  publisher_init();
 }
 
 void V4LEncoder::encoder_open(const char* path) {