loggerd: move to system/ (#27534)

old-commit-hash: 94eb2159802d3dba99620db0b08731c68a7e4733

system/loggerd/encoder/encoder.h

@@ -0,0 +1,62 @@
+#pragma once
+
+#include <cassert>
+#include <cstdint>
+#include <thread>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc.h"
+#include "common/queue.h"
+#include "system/loggerd/video_writer.h"
+#include "system/camerad/cameras/camera_common.h"
+
+#define V4L2_BUF_FLAG_KEYFRAME 8
+
+class VideoEncoder {
+public:
+  VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
+              int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write)
+  : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
+    bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { }
+  virtual ~VideoEncoder();
+  virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
+  virtual void encoder_open(const char* path) = 0;
+  virtual void encoder_close() = 0;
+
+  void publisher_init();
+  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);
+
+  void writer_open(const char* path) {
+    if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path);
+  }
+
+  void writer_close() {
+    if (this->write) {
+      to_write.push(NULL);
+      write_handler_thread.join();
+    }
+    assert(to_write.empty());
+  }
+
+protected:
+  bool write;
+  const char* filename;
+  int in_width, in_height;
+  int out_width, out_height, fps;
+  int bitrate;
+  cereal::EncodeIndex::Type codec;
+  CameraType type;
+
+private:
+  // total frames encoded
+  int cnt = 0;
+
+  // publishing
+  std::unique_ptr<PubMaster> pm;
+  const char *service_name;
+
+  // writing support
+  static void write_handler(VideoEncoder *e, const char *path);
+  std::thread write_handler_thread;
+  SafeQueue<kj::Array<capnp::word>* > to_write;
+};