Release 260111

system/loggerd/encoder/encoder.h

@@ -0,0 +1,42 @@
+#pragma once
+
+// has to be in this order
+#ifdef __linux__
+#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/videodev2.h>
+#else
+#define V4L2_BUF_FLAG_KEYFRAME 8
+#endif
+
+#include <cassert>
+#include <cstdint>
+#include <memory>
+#include <thread>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "msgq/visionipc/visionipc.h"
+#include "common/queue.h"
+#include "system/loggerd/loggerd.h"
+
+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() = 0;
+  virtual void encoder_close() = 0;
+
+  void publisher_publish(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;
+  int out_width, out_height;
+  const EncoderInfo encoder_info;
+
+private:
+  // total frames encoded
+  int cnt = 0;
+  std::unique_ptr<PubMaster> pm;
+  std::vector<capnp::byte> msg_cache;
+};

system/loggerd/encoder/ffmpeg_encoder.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <vector>
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
+}
+
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/loggerd.h"
+
+class FfmpegEncoder : public VideoEncoder {
+public:
+  FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  ~FfmpegEncoder();
+  int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
+  void encoder_open();
+  void encoder_close();
+
+private:
+  int segment_num = -1;
+  int counter = 0;
+  bool is_open = false;
+
+  AVCodecContext *codec_ctx;
+  AVFrame *frame = NULL;
+  std::vector<uint8_t> convert_buf;
+  std::vector<uint8_t> downscale_buf;
+};

system/loggerd/encoder/jpeg_encoder.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <cstdio>
+#include <cstdlib>
+#include <cstddef>
+#include <cstdint>
+#include <jpeglib.h>
+#include <vector>
+#include <memory>
+#include "cereal/messaging/messaging.h"
+#include "msgq/visionipc/visionbuf.h"
+
+class JpegEncoder {
+public:
+  JpegEncoder(const std::string &pusblish_name, int width, int height);
+  ~JpegEncoder();
+  void pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra);
+
+private:
+  void generateThumbnail(const uint8_t *y, const uint8_t *uv, int width, int height, int stride);
+  void compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane);
+
+  int thumbnail_width;
+  int thumbnail_height;
+  std::string publish_name;
+  std::vector<uint8_t> yuv_buffer;
+  std::unique_ptr<PubMaster> pm;
+
+  // JPEG output buffer
+  unsigned char* out_buffer = nullptr;
+  unsigned long out_size = 0;
+};

system/loggerd/encoder/v4l_encoder.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "common/queue.h"
+#include "system/loggerd/encoder/encoder.h"
+
+#define BUF_IN_COUNT 7
+#define BUF_OUT_COUNT 6
+
+class V4LEncoder : public VideoEncoder {
+public:
+  V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  ~V4LEncoder();
+  int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
+  void encoder_open();
+  void encoder_close();
+
+private:
+  int fd;
+
+  bool is_open = false;
+  int segment_num = -1;
+  int counter = 0;
+
+  SafeQueue<VisionIpcBufExtra> extras;
+
+  static void dequeue_handler(V4LEncoder *e);
+  std::thread dequeue_handler_thread;
+
+  VisionBuf buf_out[BUF_OUT_COUNT];
+  SafeQueue<unsigned int> free_buf_in;
+};