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Encoderd: encoders don't write, they only encode (#28499)

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* Encoders dont write, they encode

* Delete words

* unused

---------

Co-authored-by: Harald Schaefer <torq_boi@Haralds-MacBook-Air.local>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: d8f677c5eb8c3e5e7e42042144680e5ac454fe52
This commit is contained in:
Harald Schäfer
2023-06-11 15:02:42 -07:00
committed by GitHub
parent d2ec950790
commit 0705a97292
7 changed files with 9 additions and 71 deletions
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system/loggerd/encoder/encoder.cc
+1 -41
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@@ -38,45 +38,5 @@ 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;
}