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47 lines
1.4 KiB
47 lines
1.4 KiB
#pragma once
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#include <cassert>
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#include <cstdint>
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#include <thread>
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#include "cereal/messaging/messaging.h"
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#include "cereal/visionipc/visionipc.h"
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#include "common/queue.h"
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#include "system/camerad/cameras/camera_common.h"
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#define V4L2_BUF_FLAG_KEYFRAME 8
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class VideoEncoder {
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public:
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VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
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int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height,
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const char* publish_name)
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: filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
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bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height),
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publish_name(publish_name) { }
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virtual ~VideoEncoder();
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virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
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virtual void encoder_open(const char* path) = 0;
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virtual void encoder_close() = 0;
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void publisher_init();
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static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
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protected:
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const char* filename;
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const char* publish_name;
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int in_width, in_height;
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int out_width, out_height, fps;
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int bitrate;
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cereal::EncodeIndex::Type codec;
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CameraType type;
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private:
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// total frames encoded
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int cnt = 0;
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// publishing
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std::unique_ptr<PubMaster> pm;
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const char *service_name;
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};
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