IQ.Pilot Release Commit @ b6534c0

iqpilot/tools/replay/framereader.h

@@ -0,0 +1,84 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "msgq/visionipc/visionbuf.h"
+#include "tools/replay/filereader.h"
+#include "tools/replay/util.h"
+
+#ifndef __APPLE__
+#include "tools/replay/qcom_decoder.h"
+#endif
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+}
+
+class VideoDecoder;
+
+class FrameReader {
+public:
+  FrameReader();
+  ~FrameReader();
+  bool load(CameraType type, const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
+            int chunk_size = -1, int retries = 0);
+  bool loadFromFile(CameraType type, const std::string &file, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
+  bool get(int idx, VisionBuf *buf);
+  size_t getFrameCount() const { return packets_info.size(); }
+
+  int width = 0, height = 0;
+
+  VideoDecoder *decoder_ = nullptr;
+  AVFormatContext *input_ctx = nullptr;
+  int video_stream_idx_ = -1;
+  int prev_idx = -1;
+  struct PacketInfo {
+    int flags;
+    int64_t pos;
+    int64_t ts;  // dts; byte pos is useless for seeking in mp4 containers
+  };
+  std::vector<PacketInfo> packets_info;
+};
+
+
+class VideoDecoder {
+public:
+  virtual ~VideoDecoder() = default;
+  virtual bool open(AVCodecParameters *codecpar, bool hw_decoder) = 0;
+  virtual bool decode(FrameReader *reader, int idx, VisionBuf *buf) = 0;
+  int width = 0, height = 0;
+};
+
+class FFmpegVideoDecoder : public VideoDecoder {
+public:
+  FFmpegVideoDecoder();
+  ~FFmpegVideoDecoder() override;
+  bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
+  bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;
+
+private:
+  bool initHardwareDecoder(AVHWDeviceType hw_device_type);
+  AVFrame *decodeFrame(AVPacket *pkt);
+  bool copyBuffer(AVFrame *f, VisionBuf *buf);
+
+  AVFrame *av_frame_, *hw_frame_;
+  AVCodecContext *decoder_ctx = nullptr;
+  AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
+  AVBufferRef *hw_device_ctx = nullptr;
+};
+
+#ifndef __APPLE__
+class QcomVideoDecoder : public VideoDecoder {
+public:
+  QcomVideoDecoder() {};
+  ~QcomVideoDecoder() override;
+  bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
+  bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;
+
+private:
+  MsmVidc msm_vidc = MsmVidc();
+  AVBSFContext *bsf_ = nullptr;  // AVCC (mp4) -> Annex-B for msm_vidc
+};
+#endif