openpilot v0.9.6 release

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

tools/replay/framereader.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "cereal/visionipc/visionbuf.h"
+#include "tools/replay/filereader.h"
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+}
+
+struct AVFrameDeleter {
+  void operator()(AVFrame* frame) const { av_frame_free(&frame); }
+};
+
+class FrameReader {
+public:
+  FrameReader();
+  ~FrameReader();
+  bool load(const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
+            int chunk_size = -1, int retries = 0);
+  bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
+  bool get(int idx, VisionBuf *buf);
+  int getYUVSize() const { return width * height * 3 / 2; }
+  size_t getFrameCount() const { return packets.size(); }
+  bool valid() const { return valid_; }
+
+  int width = 0, height = 0;
+
+private:
+  bool initHardwareDecoder(AVHWDeviceType hw_device_type);
+  bool decode(int idx, VisionBuf *buf);
+  AVFrame * decodeFrame(AVPacket *pkt);
+  bool copyBuffers(AVFrame *f, VisionBuf *buf);
+
+  std::vector<AVPacket*> packets;
+  std::unique_ptr<AVFrame, AVFrameDeleter>av_frame_, hw_frame;
+  AVFormatContext *input_ctx = nullptr;
+  AVCodecContext *decoder_ctx = nullptr;
+  int key_frames_count_ = 0;
+  bool valid_ = false;
+  AVIOContext *avio_ctx_ = nullptr;
+
+  AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
+  AVBufferRef *hw_device_ctx = nullptr;
+  int prev_idx = -1;
+  inline static std::atomic<bool> has_hw_decoder = true;
+};