sunnypilot v2026.002.000

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

openpilot/system/loggerd/video_writer.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <string>
+#include <deque>
+
+extern "C" {
+#include <libavformat/avformat.h>
+#include <libavcodec/avcodec.h>
+}
+
+#include "openpilot/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);
+
+  ~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;
+  FILE *of = nullptr;
+
+  AVCodecContext *codec_ctx;
+  AVFormatContext *ofmt_ctx;
+  AVStream *out_stream;
+
+  bool audio_initialized = false;
+  bool header_written = false;
+  AVStream *audio_stream = nullptr;
+  AVCodecContext *audio_codec_ctx = nullptr;
+  AVFrame *audio_frame = nullptr;
+  uint64_t audio_pts = 0;
+  std::deque<float> audio_buffer;
+
+  bool remuxing;
+};