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openpilot v0.9.6 release

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date: 2024-02-21T23:02:42
master commit: 0b4d08fab8
This commit is contained in:
Vehicle Researcher
2024-02-21 23:02:43 +00:00
parent b2f2dabe71
commit fa724893fb
532 changed files with 18815 additions and 25937 deletions
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system/loggerd/encoder/encoder.cc
+13 -4
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@@ -2,6 +2,10 @@
VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
: encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
pm.reset(new PubMaster({encoder_info.publish_name}));
}
@@ -25,10 +29,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
edata.setFlags(flags);
edata.setLen(dat.size());
edat.setData(dat);
edat.setWidth(out_width);
edat.setHeight(out_height);
if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
auto bytes = words->asBytes();
e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size());
delete words;
uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
if (e->msg_cache.size() < bytes_size) {
e->msg_cache.resize(bytes_size);
}
kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
capnp::writeMessage(output_stream, msg);
e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
}