VideoEncoder.hpp

Go to the documentation of this file.

/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef VIDEO_STREAMER_VIDEOENCODER_TASK_HPP
#define VIDEO_STREAMER_VIDEOENCODER_TASK_HPP

#include "video_streamer/VideoEncoderBase.hpp"
#include "video_streamer_types.hpp"
extern "C"
{
#include "libavcodec/avcodec.h"
#include "libswscale/swscale.h"
}
namespace video_streamer {

    class VideoEncoder : public VideoEncoderBase
    {
        friend class VideoEncoderBase;
    protected:
        AVCodec *codec;
        AVFrame *rgb_picture;
        AVFrame *yuv_picture;
        AVCodecContext *c;
        SwsContext *sws_context;
        StreamData outbuffer;
        int outbuffer_size;
        uint16_t last_height, last_width;
        bool initialized;
        int frameCounter;

        void encodeAndSendFrame(AVFrame* frame);
    public:
        VideoEncoder(std::string const& name = "video_streamer::VideoEncoder", TaskCore::TaskState initial_state = Stopped);

        VideoEncoder(std::string const& name, RTT::ExecutionEngine* engine, TaskCore::TaskState initial_state = Stopped);

        ~VideoEncoder();

        bool configureHook();

        // bool startHook();

        void updateHook();

        // void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif