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85 lines
2.4 KiB
85 lines
2.4 KiB
#pragma once
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#include <cstdint>
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#include <cstdio>
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#include <vector>
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#include <thread>
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#include <OMX_Component.h>
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extern "C" {
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#include <libavformat/avformat.h>
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}
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#include "selfdrive/common/queue.h"
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#include "selfdrive/loggerd/encoder.h"
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struct OmxBuffer {
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OMX_BUFFERHEADERTYPE header;
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OMX_U8 data[];
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};
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// OmxEncoder, lossey codec using hardware hevc
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class OmxEncoder : public VideoEncoder {
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public:
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OmxEncoder(const char* filename, int width, int height, int fps, int bitrate, bool h265, bool downscale, bool write = true);
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~OmxEncoder();
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int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
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int in_width, int in_height, uint64_t ts);
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void encoder_open(const char* path);
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void encoder_close();
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// OMX callbacks
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static OMX_ERRORTYPE event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event,
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OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data);
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static OMX_ERRORTYPE empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
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OMX_BUFFERHEADERTYPE *buffer);
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static OMX_ERRORTYPE fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
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OMX_BUFFERHEADERTYPE *buffer);
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private:
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void wait_for_state(OMX_STATETYPE state);
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static void callback_handler(OmxEncoder *e);
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static void write_handler(OmxEncoder *e);
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static void handle_out_buf(OmxEncoder *e, OmxBuffer *out_buf);
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int width, height, fps;
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char vid_path[1024];
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char lock_path[1024];
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bool is_open = false;
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bool dirty = false;
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bool write = false;
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int counter = 0;
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std::thread callback_handler_thread;
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std::thread write_handler_thread;
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const char* filename;
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FILE *of = nullptr;
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size_t codec_config_len;
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uint8_t *codec_config = NULL;
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bool wrote_codec_config;
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std::mutex state_lock;
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std::condition_variable state_cv;
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OMX_STATETYPE state = OMX_StateLoaded;
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OMX_HANDLETYPE handle;
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std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
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std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
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uint64_t last_t;
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SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
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SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
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SafeQueue<OmxBuffer *> to_write;
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AVFormatContext *ofmt_ctx;
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AVCodecContext *codec_ctx;
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AVStream *out_stream;
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bool remuxing;
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bool downscale;
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uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
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};
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