openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

system/loggerd/encoder/encoder.cc

@@ -0,0 +1,37 @@
+#include "system/loggerd/encoder/encoder.h"
+
+VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
+  pm.reset(new PubMaster({encoder_info.publish_name}));
+}
+
+void VideoEncoder::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) {
+  // broadcast packet
+  MessageBuilder msg;
+  auto event = msg.initEvent(true);
+  auto edat = (event.*(e->encoder_info.init_encode_data_func))();
+  auto edata = edat.initIdx();
+  struct timespec ts;
+  timespec_get(&ts, TIME_UTC);
+  edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
+  edata.setFrameId(extra.frame_id);
+  edata.setTimestampSof(extra.timestamp_sof);
+  edata.setTimestampEof(extra.timestamp_eof);
+  edata.setType(e->encoder_info.encode_type);
+  edata.setEncodeId(e->cnt++);
+  edata.setSegmentNum(segment_num);
+  edata.setSegmentId(idx);
+  edata.setFlags(flags);
+  edata.setLen(dat.size());
+  edat.setData(dat);
+  if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
+
+  uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
+  if (e->msg_cache.size() < bytes_size) {
+    e->msg_cache.resize(bytes_size);
+  }
+  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
+  capnp::writeMessage(output_stream, msg);
+  e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
+}