sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/system/loggerd/encoder/encoder.h

@@ -0,0 +1,44 @@
+#pragma once
+
+// has to be in this order
+#ifdef __linux__
+#include <linux/v4l2-controls.h>
+#include <linux/videodev2.h>
+#else
+#define V4L2_BUF_FLAG_KEYFRAME 8
+#endif
+
+#include <cassert>
+#include <cstdint>
+#include <memory>
+#include <thread>
+#include <vector>
+
+#include "openpilot/cereal/messaging/messaging.h"
+#include "msgq/visionipc/visionipc.h"
+#include "common/queue.h"
+#include "system/loggerd/loggerd.h"
+
+class VideoEncoder {
+public:
+  VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  virtual ~VideoEncoder() {}
+  virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
+  virtual void encoder_open() = 0;
+  virtual void encoder_close() = 0;
+  virtual void set_bitrate(int bitrate) = 0;
+  virtual void request_keyframe() = 0;
+
+  void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
+
+protected:
+  int in_width, in_height;
+  int out_width, out_height;
+  const EncoderInfo encoder_info;
+
+private:
+  // total frames encoded
+  int cnt = 0;
+  std::unique_ptr<PubMaster> pm;
+  std::vector<capnp::byte> msg_cache;
+};