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48 lines
1.3 KiB
48 lines
1.3 KiB
#pragma once
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#include "selfdrive/common/queue.h"
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#include "selfdrive/loggerd/encoder.h"
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#include "selfdrive/loggerd/loggerd.h"
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#include "selfdrive/loggerd/video_writer.h"
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#define BUF_IN_COUNT 7
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#define BUF_OUT_COUNT 6
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class V4LEncoder : public VideoEncoder {
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public:
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V4LEncoder(const char* filename, CameraType type, int width, int height, int fps, int bitrate, bool h265, int out_width, int out_height, bool write = true);
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~V4LEncoder();
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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, VisionIpcBufExtra *extra);
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void encoder_open(const char* path);
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void encoder_close();
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private:
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int fd;
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const char* filename;
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CameraType type;
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unsigned int in_width_, in_height_;
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bool h265;
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bool is_open = false;
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int segment_num = -1;
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int counter = 0;
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std::unique_ptr<PubMaster> pm;
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const char *service_name;
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static void dequeue_handler(V4LEncoder *e);
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std::thread dequeue_handler_thread;
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VisionBuf buf_in[BUF_IN_COUNT];
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VisionBuf buf_out[BUF_OUT_COUNT];
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SafeQueue<unsigned int> free_buf_in;
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SafeQueue<VisionIpcBufExtra> extras;
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// writing support
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int width, height, fps;
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bool write;
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static void write_handler(V4LEncoder *e, const char *path);
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std::thread write_handler_thread;
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SafeQueue<kj::Array<capnp::word>* > to_write;
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};
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