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openpilot v0.9.3 release

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date: 2023-06-16T05:25:00
master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
This commit is contained in:
Vehicle Researcher
2023-06-16 05:25:01 +00:00
parent cfd8323ccb
commit c39abc00af
188 changed files with 4182 additions and 2011 deletions
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system/loggerd/encoder/encoder.cc
+2 -44
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@@ -5,9 +5,7 @@ VideoEncoder::~VideoEncoder() {}
void VideoEncoder::publisher_init() {
// publish
service_name = this->type == DriverCam ? "driverEncodeData" :
(this->type == WideRoadCam ? "wideRoadEncodeData" :
(this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData"));
service_name = this->publish_name;
pm.reset(new PubMaster({service_name}));
}
@@ -38,45 +36,5 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
auto bytes = words->asBytes();
e->pm->send(e->service_name, bytes.begin(), bytes.size());
if (e->write) {
e->to_write.push(words);
} else {
delete words;
}
}
// TODO: writing should be moved to loggerd
void VideoEncoder::write_handler(VideoEncoder *e, const char *path) {
VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec);
bool first = true;
kj::Array<capnp::word>* out_buf;
while ((out_buf = e->to_write.pop())) {
capnp::FlatArrayMessageReader cmsg(*out_buf);
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() :
((e->type == WideRoadCam) ? event.getWideRoadEncodeData() :
(e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData()));
auto idx = edata.getIdx();
auto flags = idx.getFlags();
if (first) {
assert(flags & V4L2_BUF_FLAG_KEYFRAME);
auto header = edata.getHeader();
writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
first = false;
}
// dangerous cast from const, but should be fine
auto data = edata.getData();
if (data.size() > 0) {
writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
}
// free the data
delete out_buf;
}
// VideoWriter is freed on out of scope
delete words;
}