增加远程、本地查看摄像头功能

openpilot/selfdrive/fp/streamup845.h

@@ -0,0 +1,68 @@
+#pragma once
+
+// Snapdragon 845 H.264 encoding through FFmpeg.
+// Input NV12 frames are converted to I420 with libyuv before encoding.
+
+#include <chrono>
+#include <cstdint>
+#include <string>
+#include <vector>
+
+#include "msgq/visionipc/visionbuf.h"
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavutil/frame.h>
+}
+
+class AmdH264VaapiEncoder {
+public:
+  AmdH264VaapiEncoder(int width, int height, const std::string &camera,
+                      int fps = 20,
+                      int bitrate = 5'000'000,
+                      const std::string &device_path = "",
+                      const std::string &host = "127.0.0.1",
+                      int port = 8089);
+  ~AmdH264VaapiEncoder();
+
+  bool open();
+  void close();
+  bool encode_frame(const VisionBuf *buf);
+
+  bool is_open() const { return opened_; }
+
+private:
+  bool drain_packets(std::vector<uint8_t> *out);
+  bool ensure_connected();
+  bool send_handshake();
+  bool send_camera_register();
+  bool send_packet(uint8_t cmd, const uint8_t *data, size_t size);
+  bool send_ws_binary(const uint8_t *data, size_t size);
+  void read_control_messages();
+  void close_socket();
+  bool fps_limited() const;
+  void release();
+
+  int width_ = 0;
+  int height_ = 0;
+  int fps_ = 0;
+  int bitrate_ = 0;
+  std::string camera_;
+  std::string host_;
+  int port_ = 8089;
+
+  AVCodecContext *codec_ctx_ = nullptr;
+  AVFrame *sw_frame_ = nullptr;
+  const AVCodec *codec_ = nullptr;
+  std::vector<uint8_t> convert_buf_;
+
+  bool opened_ = false;
+  int socket_fd_ = -1;
+  bool has_viewer_ = false;
+  bool restart_encoder_ = true;
+  int64_t frame_idx_ = 0;
+  int gop_size_ = 0;
+  std::vector<uint8_t> rx_buffer_;
+  std::chrono::steady_clock::time_point last_sent_;
+  std::chrono::steady_clock::time_point next_reconnect_;
+};