diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 08eaf0ff01..417eec04d2 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -38,45 +38,4 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t auto words = new kj::Array(capnp::messageToFlatArray(msg)); auto bytes = words->asBytes(); e->pm->send(e->service_name, bytes.begin(), bytes.size()); - if (e->write) { - e->to_write.push(words); - } else { - delete words; - } -} - -// TODO: writing should be moved to loggerd -void VideoEncoder::write_handler(VideoEncoder *e, const char *path) { - VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec); - - bool first = true; - kj::Array* out_buf; - while ((out_buf = e->to_write.pop())) { - capnp::FlatArrayMessageReader cmsg(*out_buf); - cereal::Event::Reader event = cmsg.getRoot(); - - auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() : - ((e->type == WideRoadCam) ? event.getWideRoadEncodeData() : - (e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData())); - auto idx = edata.getIdx(); - auto flags = idx.getFlags(); - - if (first) { - assert(flags & V4L2_BUF_FLAG_KEYFRAME); - auto header = edata.getHeader(); - writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); - first = false; - } - - // dangerous cast from const, but should be fine - auto data = edata.getData(); - if (data.size() > 0) { - writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); - } - - // free the data - delete out_buf; - } - - // VideoWriter is freed on out of scope } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 88dd5cee23..9fd2431567 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -15,9 +15,9 @@ class VideoEncoder { public: VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height) : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps), - bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { } + bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height) { } virtual ~VideoEncoder(); virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; virtual void encoder_open(const char* path) = 0; @@ -26,20 +26,8 @@ public: void publisher_init(); static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - void writer_open(const char* path) { - if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path); - } - - void writer_close() { - if (this->write) { - to_write.push(NULL); - write_handler_thread.join(); - } - assert(to_write.empty()); - } protected: - bool write; const char* filename; int in_width, in_height; int out_width, out_height, fps; @@ -54,9 +42,4 @@ private: // publishing std::unique_ptr pm; const char *service_name; - - // writing support - static void write_handler(VideoEncoder *e, const char *path); - std::thread write_handler_thread; - SafeQueue* > to_write; }; diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 275da34f18..af05b5df97 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -60,7 +60,6 @@ void FfmpegEncoder::encoder_open(const char* path) { int err = avcodec_open2(this->codec_ctx, codec, NULL); assert(err >= 0); - writer_open(path); is_open = true; segment_num++; counter = 0; @@ -69,7 +68,6 @@ void FfmpegEncoder::encoder_open(const char* path) { void FfmpegEncoder::encoder_close() { if (!is_open) return; - writer_close(); avcodec_free_context(&codec_ctx); is_open = false; } diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h index 9095a6e815..1ba991f09b 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -17,8 +17,8 @@ extern "C" { class FfmpegEncoder : public VideoEncoder { public: FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, write) { encoder_init(); } + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height) : + VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height) { encoder_init(); } ~FfmpegEncoder(); void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 16e7246ff4..976839eef3 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -255,7 +255,6 @@ void V4LEncoder::encoder_init() { void V4LEncoder::encoder_open(const char* path) { dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this); - writer_open(path); this->is_open = true; this->counter = 0; } @@ -288,7 +287,6 @@ void V4LEncoder::encoder_close() { // join waits for V4L2_QCOM_BUF_FLAG_EOS dequeue_handler_thread.join(); assert(extras.empty()); - writer_close(); } this->is_open = false; } diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h index d4b0a1211d..1016c0f5c6 100644 --- a/system/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -9,8 +9,8 @@ class V4LEncoder : public VideoEncoder { public: V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); } + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height) : + VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height) { encoder_init(); } ~V4LEncoder(); void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index 12b58b6591..45120ec334 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -57,13 +57,13 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, cam_info.fps, cam_info.bitrate, cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - buf_info.width, buf_info.height, false)); + buf_info.width, buf_info.height)); // qcamera encoder if (cam_info.has_qcamera) { encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - qcam_info.frame_width, qcam_info.frame_height, false)); + qcam_info.frame_width, qcam_info.frame_height)); } } else { LOGE("not initting empty encoder");