openpilot/selfdrive/loggerd/frame_logger.h

82 lines
1.5 KiB
C++

#ifndef FRAMELOGGER_H
#define FRAMELOGGER_H
#include <cstdint>
#include <string>
#include <mutex>
class FrameLogger {
public:
virtual ~FrameLogger() {}
virtual void Open(const std::string &path) = 0;
virtual void Close() = 0;
int LogFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr, int *frame_segment) {
std::lock_guard<std::recursive_mutex> guard(lock);
if (opening) {
Open(next_path);
opening = false;
}
if (!is_open) return -1;
if (rotating) {
Close();
Open(next_path);
segment = next_segment;
rotating = false;
}
int ret = ProcessFrame(ts, y_ptr, u_ptr, v_ptr);
if (ret >= 0 && frame_segment) {
*frame_segment = segment;
}
if (closing) {
Close();
closing = false;
}
return ret;
}
void Rotate(const std::string &new_path, int new_segment) {
std::lock_guard<std::recursive_mutex> guard(lock);
next_path = new_path;
next_segment = new_segment;
if (is_open) {
if (next_segment == -1) {
closing = true;
} else {
rotating = true;
}
} else {
segment = next_segment;
opening = true;
}
}
protected:
virtual int ProcessFrame(uint64_t ts, const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr) = 0;
std::recursive_mutex lock;
bool is_open = false;
int segment = -1;
std::string vid_path, lock_path;
private:
int next_segment = -1;
bool opening = false, closing = false, rotating = false;
std::string next_path;
};
#endif