36 lines
1022 B
36 lines
1022 B
#pragma once
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#include <cassert>
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#include <cstdint>
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#include <memory>
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#include <thread>
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#include <vector>
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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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#include "system/loggerd/loggerd.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 EncoderInfo &encoder_info, int in_width, int in_height);
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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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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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int in_width, in_height;
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const EncoderInfo encoder_info;
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private:
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// total frames encoded
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int cnt = 0;
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std::unique_ptr<PubMaster> pm;
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std::vector<capnp::byte> msg_cache;
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};
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