mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-16 13:53:53 +08:00
Adeeb Shihadeh
106 lines
3.3 KiB
C++
106 lines
3.3 KiB
C++
#pragma once
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#include <linux/videodev2.h>
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#include <poll.h>
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#include "msgq/visionipc/visionbuf.h"
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extern "C" {
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#include <libavcodec/avcodec.h>
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#include <libavformat/avformat.h>
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}
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#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000)
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#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1)
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#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3)
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#ifndef V4L2_CID_MPEG_MSM_VIDC_BASE
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#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000
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#endif
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#ifndef V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT
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#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
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#endif
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#ifndef V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE
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#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
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#endif
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#ifndef V4L2_PIX_FMT_NV12_UBWC
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#define V4L2_PIX_FMT_NV12_UBWC v4l2_fourcc('Q', '1', '2', '8')
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#endif
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#ifndef V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY
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#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY (V4L2_CID_MPEG_MSM_VIDC_BASE + 52)
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#define V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE 0
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#define V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE 1
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#endif
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#ifndef V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE
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#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE (V4L2_CID_MPEG_MSM_VIDC_BASE + 53)
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#endif
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#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1)
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#define V4L2_QCOM_CMD_FLUSH (4)
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#ifndef V4L2_QCOM_BUF_FLAG_EOS
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#define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
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#endif
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#define OUTPUT_BUFFER_COUNT 8
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#define CAPTURE_BUFFER_COUNT 16
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#define FPS 20
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struct V4LDecodedFrame {
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VisionBuf *buf = nullptr;
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uint64_t token = 0;
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};
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class V4LDecoder {
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public:
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static constexpr const char *DEVICE = "/dev/video32";
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V4LDecoder() = default;
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~V4LDecoder();
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bool init(const char* dev, size_t width, size_t height, uint64_t codec,
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bool direct_mode = false, uint32_t capture_fourcc = V4L2_PIX_FMT_NV12);
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VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf);
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// queuePacket() and pump() are single-threaded. releaseFrame() may be called
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// from a consumer thread after a direct capture surface is no longer needed.
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bool queuePacket(const AVPacket *pkt, uint64_t token);
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bool pump(V4LDecodedFrame &frame, int timeout_ms);
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void releaseFrame(VisionBuf *buf);
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void sendEOS();
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size_t maxPacketSize() const { return out_buf_size; }
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AVFormatContext* avctx = nullptr;
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int fd = 0;
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private:
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bool initialized = false;
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bool reconfigure_pending = false;
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bool direct = false;
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uint32_t capture_format = V4L2_PIX_FMT_NV12;
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VisionBuf out_bufs[OUTPUT_BUFFER_COUNT]; // Distinct dma-buf per in-flight packet
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VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT]; // Capture (output) buffers
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size_t w = 0, h = 0;
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int out_buf_size = 0;
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bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false};
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const int subscriptions[2] = {
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V4L2_EVENT_MSM_VIDC_FLUSH_DONE,
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V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT
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};
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struct pollfd pfd = {};
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bool subscribeEvents();
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bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc);
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bool setFPS(uint32_t fps);
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bool restartCapture();
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bool queueCaptureBuffer(int i);
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bool queueOutputBuffer(int i, size_t size, uint64_t token);
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bool setDBP();
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bool sendPacket(int buf_index, const AVPacket* pkt, uint64_t token);
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int getBufferUnlocked();
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int handleCapture(V4LDecodedFrame *frame);
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int handleOutput();
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int handleEvent();
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};
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