Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
#pragma once
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// has to be in this order
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#ifdef __linux__
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#include <linux/v4l2-controls.h>
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#include <linux/videodev2.h>
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#else
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#define V4L2_BUF_FLAG_KEYFRAME 8
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#endif
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#include <cassert>
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#include <cstdint>
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#include <memory>
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#include <thread>
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#include <vector>
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#include "cereal/messaging/messaging.h"
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#include "msgq/visionipc/visionipc.h"
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#include "common/queue.h"
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#include "system/loggerd/loggerd.h"
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class VideoEncoder {
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public:
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VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
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virtual ~VideoEncoder() {}
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virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
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virtual void encoder_open() = 0;
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virtual void encoder_close() = 0;
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void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
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protected:
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int in_width, in_height;
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int out_width, out_height;
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const EncoderInfo encoder_info;
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private:
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// total frames encoded
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int cnt = 0;
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std::unique_ptr<PubMaster> pm;
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std::vector<capnp::byte> msg_cache;
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};
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