openpilot v0.9.6 release

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

system/loggerd/video_writer.cc

@@ -0,0 +1,112 @@
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#include <cassert>
+
+#include "system/loggerd/video_writer.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+
+VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec)
+  : remuxing(remuxing) {
+  vid_path = util::string_format("%s/%s", path, filename);
+  lock_path = util::string_format("%s/%s.lock", path, filename);
+
+  int lock_fd = HANDLE_EINTR(open(lock_path.c_str(), O_RDWR | O_CREAT, 0664));
+  assert(lock_fd >= 0);
+  close(lock_fd);
+
+  LOGD("encoder_open %s remuxing:%d", this->vid_path.c_str(), this->remuxing);
+  if (this->remuxing) {
+    bool raw = (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS);
+    avformat_alloc_output_context2(&this->ofmt_ctx, NULL, raw ? "matroska" : NULL, this->vid_path.c_str());
+    assert(this->ofmt_ctx);
+
+    // set codec correctly. needed?
+    assert(codec != cereal::EncodeIndex::Type::FULL_H_E_V_C);
+    const AVCodec *avcodec = avcodec_find_encoder(raw ? AV_CODEC_ID_FFVHUFF : AV_CODEC_ID_H264);
+    assert(avcodec);
+
+    this->codec_ctx = avcodec_alloc_context3(avcodec);
+    assert(this->codec_ctx);
+    this->codec_ctx->width = width;
+    this->codec_ctx->height = height;
+    this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
+    this->codec_ctx->time_base = (AVRational){ 1, fps };
+
+    if (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS) {
+      // without this, there's just noise
+      int err = avcodec_open2(this->codec_ctx, avcodec, NULL);
+      assert(err >= 0);
+    }
+
+    this->out_stream = avformat_new_stream(this->ofmt_ctx, raw ? avcodec : NULL);
+    assert(this->out_stream);
+
+    int err = avio_open(&this->ofmt_ctx->pb, this->vid_path.c_str(), AVIO_FLAG_WRITE);
+    assert(err >= 0);
+
+  } else {
+    this->of = util::safe_fopen(this->vid_path.c_str(), "wb");
+    assert(this->of);
+  }
+}
+
+void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) {
+  if (of && data) {
+    size_t written = util::safe_fwrite(data, 1, len, of);
+    if (written != len) {
+      LOGE("failed to write file.errno=%d", errno);
+    }
+  }
+
+  if (remuxing) {
+    if (codecconfig) {
+      if (len > 0) {
+        codec_ctx->extradata = (uint8_t*)av_mallocz(len + AV_INPUT_BUFFER_PADDING_SIZE);
+        codec_ctx->extradata_size = len;
+        memcpy(codec_ctx->extradata, data, len);
+      }
+      int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
+      assert(err >= 0);
+      err = avformat_write_header(ofmt_ctx, NULL);
+      assert(err >= 0);
+    } else {
+      // input timestamps are in microseconds
+      AVRational in_timebase = {1, 1000000};
+
+      AVPacket pkt;
+      av_init_packet(&pkt);
+      pkt.data = data;
+      pkt.size = len;
+
+      enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
+      pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd);
+      pkt.duration = av_rescale_q(50*1000, in_timebase, ofmt_ctx->streams[0]->time_base);
+
+      if (keyframe) {
+        pkt.flags |= AV_PKT_FLAG_KEY;
+      }
+
+      // TODO: can use av_write_frame for non raw?
+      int err = av_interleaved_write_frame(ofmt_ctx, &pkt);
+      if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lld", len, timestamp); }
+
+      av_packet_unref(&pkt);
+    }
+  }
+}
+
+VideoWriter::~VideoWriter() {
+  if (this->remuxing) {
+    int err = av_write_trailer(this->ofmt_ctx);
+    if (err != 0) LOGE("av_write_trailer failed %d", err);
+    avcodec_free_context(&this->codec_ctx);
+    err = avio_closep(&this->ofmt_ctx->pb);
+    if (err != 0) LOGE("avio_closep failed %d", err);
+    avformat_free_context(this->ofmt_ctx);
+  } else {
+    util::safe_fflush(this->of);
+    fclose(this->of);
+    this->of = nullptr;
+  }
+  unlink(this->lock_path.c_str());
+}