diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/selfdrive/loggerd/encoder/v4l_encoder.cc index 26d79cc2a9..9ed1f80453 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.cc +++ b/selfdrive/loggerd/encoder/v4l_encoder.cc @@ -37,10 +37,11 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N assert(v4l_buf.m.planes[0].data_offset == 0); } -static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={0}) { +static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={0}, unsigned int bytesused=0) { v4l2_plane plane = { .length = (unsigned int)buf->len, .m = { .userptr = (unsigned long)buf->addr, }, + .bytesused = bytesused, .reserved = {(unsigned int)buf->fd} }; @@ -275,6 +276,7 @@ int V4LEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const u int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, in_width); uint8_t *in_uv_ptr = in_y_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, in_height)); + // GRRR COPY int err = libyuv::I420ToNV12(y_ptr, in_width, u_ptr, in_width/2, @@ -292,7 +294,9 @@ int V4LEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const u // push buffer extras.push(*extra); buf_in[buffer_in].sync(VISIONBUF_SYNC_TO_DEVICE); - queue_buffer(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, buffer_in, &buf_in[buffer_in], timestamp); + int bytesused = VENUS_Y_STRIDE(COLOR_FMT_NV12, in_width) * VENUS_Y_SCANLINES(COLOR_FMT_NV12, in_height) + + VENUS_UV_STRIDE(COLOR_FMT_NV12, in_width) * VENUS_UV_SCANLINES(COLOR_FMT_NV12, in_height); + queue_buffer(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, buffer_in, &buf_in[buffer_in], timestamp, bytesused); return this->counter++; }