encoderd: make work on PC (#24483)

* don't use the codec in video_writer

* this produces broken videos for some reason

* bugfix

* refactor on the class

* works on device

* fix codec

* no codec enum

* fix pc

* move into dirs

* these includes also

* rename it ffmpegencoder

* add avcodec_close

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/loggerd/encoder/ffmpeg_encoder.h

@@ -0,0 +1,38 @@
+#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 "selfdrive/loggerd/encoder/encoder.h"
+#include "selfdrive/loggerd/loggerd.h"
+#include "selfdrive/loggerd/encoder/video_writer.h"
+
+class FfmpegEncoder : public VideoEncoder {
+ public:
+  FfmpegEncoder(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) :
+                VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, write) { encoder_init(); }
+  ~FfmpegEncoder();
+  void encoder_init();
+  int encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
+                   int in_width_, int in_height_, VisionIpcBufExtra *extra);
+  void encoder_open(const char* path);
+  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> downscale_buf;
+};