#include "system/loggerd/encoder/encoder.h"

VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
    : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {

  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(std::vector{encoder_info.publish_name}));
}

void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
                                     unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
  MessageBuilder msg;
  auto event = msg.initEvent(true);
  auto edat = (event.*(encoder_info.init_encode_data_func))();
  auto edata = edat.initIdx();
  struct timespec ts;
  timespec_get(&ts, TIME_UTC);
  edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
  edata.setFrameId(extra.frame_id);
  edata.setTimestampSof(extra.timestamp_sof);
  edata.setTimestampEof(extra.timestamp_eof);
  edata.setType(encoder_info.encode_type);
  edata.setEncodeId(cnt++);
  edata.setSegmentNum(segment_num);
  edata.setSegmentId(idx);
  edata.setFlags(flags);
  edata.setLen(dat.size());
  edat.adoptData(msg.getOrphanage().referenceExternalData(dat));
  edat.setWidth(out_width);
  edat.setHeight(out_height);
  if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);

  uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
  if (msg_cache.size() < bytes_size) {
    msg_cache.resize(bytes_size);
  }
  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(msg_cache.data(), bytes_size));
  capnp::writeMessage(output_stream, msg);
  pm->send(encoder_info.publish_name, msg_cache.data(), bytes_size);
}