37 lines
1022 B
C++
37 lines
1022 B
C++
#pragma once
|
|
|
|
#include <cassert>
|
|
#include <cstdint>
|
|
#include <memory>
|
|
#include <thread>
|
|
#include <vector>
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "cereal/visionipc/visionipc.h"
|
|
#include "common/queue.h"
|
|
#include "system/camerad/cameras/camera_common.h"
|
|
#include "system/loggerd/loggerd.h"
|
|
|
|
#define V4L2_BUF_FLAG_KEYFRAME 8
|
|
|
|
class VideoEncoder {
|
|
public:
|
|
VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
|
|
virtual ~VideoEncoder() {}
|
|
virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
|
|
virtual void encoder_open(const char* path) = 0;
|
|
virtual void encoder_close() = 0;
|
|
|
|
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);
|
|
|
|
protected:
|
|
int in_width, in_height;
|
|
const EncoderInfo encoder_info;
|
|
|
|
private:
|
|
// total frames encoded
|
|
int cnt = 0;
|
|
std::unique_ptr<PubMaster> pm;
|
|
std::vector<capnp::byte> msg_cache;
|
|
};
|