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82 lines
3.0 KiB
82 lines
3.0 KiB
#include <cassert>
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#include "selfdrive/loggerd/encoder/encoder.h"
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VideoEncoder::~VideoEncoder() {}
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void VideoEncoder::publisher_init() {
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// publish
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service_name = this->type == DriverCam ? "driverEncodeData" :
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(this->type == WideRoadCam ? "wideRoadEncodeData" :
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(this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData"));
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pm.reset(new PubMaster({service_name}));
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}
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void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
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unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
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// broadcast packet
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MessageBuilder msg;
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auto event = msg.initEvent(true);
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auto edat = (e->type == DriverCam) ? event.initDriverEncodeData() :
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((e->type == WideRoadCam) ? event.initWideRoadEncodeData() :
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(e->in_width == e->out_width ? event.initRoadEncodeData() : event.initQRoadEncodeData()));
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auto edata = edat.initIdx();
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struct timespec ts;
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timespec_get(&ts, TIME_UTC);
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edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
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edata.setFrameId(extra.frame_id);
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edata.setTimestampSof(extra.timestamp_sof);
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edata.setTimestampEof(extra.timestamp_eof);
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edata.setType(e->codec);
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edata.setEncodeId(e->cnt++);
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edata.setSegmentNum(segment_num);
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edata.setSegmentId(idx);
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edata.setFlags(flags);
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edata.setLen(dat.size());
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edat.setData(dat);
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if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
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auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
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auto bytes = words->asBytes();
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e->pm->send(e->service_name, bytes.begin(), bytes.size());
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if (e->write) {
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e->to_write.push(words);
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} else {
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delete words;
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}
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}
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// TODO: writing should be moved to loggerd
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void VideoEncoder::write_handler(VideoEncoder *e, const char *path) {
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VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec);
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bool first = true;
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kj::Array<capnp::word>* out_buf;
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while ((out_buf = e->to_write.pop())) {
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capnp::FlatArrayMessageReader cmsg(*out_buf);
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() :
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((e->type == WideRoadCam) ? event.getWideRoadEncodeData() :
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(e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData()));
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auto idx = edata.getIdx();
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auto flags = idx.getFlags();
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if (first) {
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assert(flags & V4L2_BUF_FLAG_KEYFRAME);
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auto header = edata.getHeader();
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writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
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first = false;
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}
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// dangerous cast from const, but should be fine
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auto data = edata.getData();
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if (data.size() > 0) {
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writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
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}
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// free the data
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delete out_buf;
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}
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// VideoWriter is freed on out of scope
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}
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