IQ.Pilot Release Commit @ 0798119

system/loggerd/video_writer.h

@@ -0,0 +1,52 @@
+#pragma once
+
+#include <string>
+#include <deque>
+
+extern "C" {
+#include <libavformat/avformat.h>
+#include <libavcodec/avcodec.h>
+#include <libavutil/channel_layout.h>
+#include <libavutil/samplefmt.h>
+}
+
+#include "cereal/messaging/messaging.h"
+
+class VideoWriter {
+public:
+  VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
+  void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
+  void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
+  void durable_sync(bool force);
+
+  ~VideoWriter();
+
+private:
+  void initialize_audio(int sample_rate);
+  void encode_and_write_audio_frame(AVFrame* frame);
+  void process_remaining_audio();
+
+  std::string vid_path, lock_path, dir_path;
+  FILE *of = nullptr;
+  off_t wb_synced_ = 0;   // io_writeback.h cursors
+  off_t wb_dropped_ = 0;
+  int durable_fd = -1;          // remux path: second fd on vid_path for fdatasync
+  double last_durable_ms = 0.;  // io_writeback.h durable-checkpoint cursor
+
+  AVCodecContext *codec_ctx;
+  AVFormatContext *ofmt_ctx;
+  AVStream *out_stream;
+  int out_stream_index = -1;
+
+  bool audio_initialized = false;
+  bool audio_failed = false;
+  bool header_written = false;
+  AVStream *audio_stream = nullptr;
+  int audio_stream_index = -1;
+  AVCodecContext *audio_codec_ctx = nullptr;
+  AVFrame *audio_frame = nullptr;
+  uint64_t audio_pts = 0;
+  std::deque<float> audio_buffer;
+
+  bool remuxing;
+};