Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
43 lines
1.8 KiB
C++
43 lines
1.8 KiB
C++
#include "system/loggerd/encoder/encoder.h"
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VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
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: encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
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out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
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out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
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pm.reset(new PubMaster(std::vector{encoder_info.publish_name}));
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}
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void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
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unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
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MessageBuilder msg;
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auto event = msg.initEvent(true);
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auto edat = (event.*(encoder_info.init_encode_data_func))();
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auto edata = edat.initIdx();
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struct timespec ts;
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timespec_get(&ts, TIME_UTC);
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edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
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edata.setFrameId(extra.frame_id);
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edata.setTimestampSof(extra.timestamp_sof);
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edata.setTimestampEof(extra.timestamp_eof);
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edata.setType(encoder_info.get_settings(in_width).encode_type);
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edata.setEncodeId(cnt++);
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edata.setSegmentNum(segment_num);
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edata.setSegmentId(idx);
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edata.setFlags(flags);
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edata.setLen(dat.size());
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edat.adoptData(msg.getOrphanage().referenceExternalData(dat));
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edat.setWidth(out_width);
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edat.setHeight(out_height);
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if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
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uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
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if (msg_cache.size() < bytes_size) {
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msg_cache.resize(bytes_size);
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}
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kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(msg_cache.data(), bytes_size));
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capnp::writeMessage(output_stream, msg);
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pm->send(encoder_info.publish_name, msg_cache.data(), bytes_size);
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}
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