vehicle-backup/ZJ_PRO_JET/webrtcinterop/jetson_h264_encode.cpp

/*
 *  Copyright (c) 2015 The WebRTC project authors. All Rights Reserved.
 *
 *  Use of this source code is governed by a BSD-style license
 *  that can be found in the LICENSE file in the root of the source
 *  tree. An additional intellectual property rights grant can be found
 *  in the file PATENTS.  All contributing project authors may
 *  be found in the AUTHORS file in the root of the source tree.
 *
 */

// Everything declared/defined in this header is only required when WebRTC is
// build with H264 support, please do not move anything out of the
// #ifdef unless needed and tested.


#include <limits>
#include <string>

#include "absl/strings/match.h"
#include "common_video/libyuv/include/webrtc_libyuv.h"
#include "modules/video_coding/utility/simulcast_rate_allocator.h"
#include "modules/video_coding/utility/simulcast_utility.h"
#include "rtc_base/checks.h"
#include "rtc_base/logging.h"
#include "rtc_base/time_utils.h"
#include "system_wrappers/include/metrics.h"
#include "third_party/libyuv/include/libyuv/convert.h"
#include "third_party/libyuv/include/libyuv/scale.h"
#include "third_party/openh264/src/codec/api/svc/codec_api.h"
#include "third_party/openh264/src/codec/api/svc/codec_app_def.h"
#include "third_party/openh264/src/codec/api/svc/codec_def.h"
#include "third_party/openh264/src/codec/api/svc/codec_ver.h"

#include "/home/nvidia/devdata/ZJ_PRO_JET/webrtcinterop/jetson_h264_encode.h"
#include "/home/nvidia/devdata/ZJ_PRO_JET/webrtcinterop/include/NvUtils.h"

using namespace std;

#define IS_DIGIT(c) (c >= '0' && c <= '9')
#define MICROSECOND_UNIT 1000000



namespace webrtc {

namespace {

const bool kOpenH264EncoderDetailedLogging = false;

// QP scaling thresholds.
static const int kLowH264QpThreshold = 24;
static const int kHighH264QpThreshold = 37;

// Used by histograms. Values of entries should not be changed.
enum H264EncoderImplEvent {
  kH264EncoderEventInit = 0,
  kH264EncoderEventError = 1,
  kH264EncoderEventMax = 16,
};
//
// void copyFrame(AVFrame *frame, const webrtc::I420BufferInterface *buffer) {
//     frame->width = buffer->width();
//     frame->height = buffer->height();
//     frame->format = AV_PIX_FMT_YUV420P;
//     frame->data[kYPlaneIndex] = const_cast<uint8_t *>(buffer->DataY());
//     frame->data[kUPlaneIndex] = const_cast<uint8_t *>(buffer->DataU());
//     frame->data[kVPlaneIndex] = const_cast<uint8_t *>(buffer->DataV());
// }





int NumberOfThreads(int width, int height, int number_of_cores) {
  // TODO(hbos): In Chromium, multiple threads do not work with sandbox on Mac,
  // see crbug.com/583348. Until further investigated, only use one thread.
  //  if (width * height >= 1920 * 1080 && number_of_cores > 8) {
  //    return 8;  // 8 threads for 1080p on high perf machines.
  //  } else if (width * height > 1280 * 960 && number_of_cores >= 6) {
  //    return 3;  // 3 threads for 1080p.
  //  } else if (width * height > 640 * 480 && number_of_cores >= 3) {
  //    return 2;  // 2 threads for qHD/HD.
  //  } else {
  //    return 1;  // 1 thread for VGA or less.
  //  }
  // TODO(sprang): Also check sSliceArgument.uiSliceNum om GetEncoderPrams(),
  //               before enabling multithreading here.
  return 1;
}

/**
  * Abort on error.
  *
  * @param ctx : Encoder context
  */
static void
abort(context_enc_t *ctx)
{
    ctx->got_error = true;
    ctx->enc->abort();
}

static
Crc* InitCrc(unsigned int CrcPolynomial)
{
    unsigned short int i;
    unsigned short int j;
    unsigned int tempcrc;
    Crc *phCrc;
    phCrc = (Crc*) malloc (sizeof(Crc));
    if (phCrc == NULL)
    {
        cerr << "Mem allocation failed for Init CRC" <<endl;
        return NULL;
    }

    memset (phCrc, 0, sizeof(Crc));

    for (i = 0; i <= 255; i++)
    {
        tempcrc = i;
        for (j = 8; j > 0; j--)
        {
            if (tempcrc & 1)
            {
                tempcrc = (tempcrc >> 1) ^ CrcPolynomial;
            }
            else
            {
                tempcrc >>= 1;
            }
        }
        phCrc->CRCTable[i] = tempcrc;
    }

    phCrc->CrcValue = 0;
    return phCrc;
}

// static void set_defaults(context_enc_t & ctx)
// {
//     memset(ctx, 0, sizeof(context_enc_t));

//     // ctx->in_file_path = "/home/nvidia/Desktop/env_enc/jetson_enc/build/output.yuv";
//     // ctx->out_file_path = "test.h264";
//     // ctx->width = 1280;
//     // ctx->height = 720;
//     ctx->encoder_pixfmt = V4L2_PIX_FMT_H264;
    
//     ctx->raw_pixfmt = V4L2_PIX_FMT_YUV420M;
//     ctx->bitrate = 4 * 1024 * 1024;
//     ctx->peak_bitrate = 0;
//     ctx->profile = V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE;
//     ctx->ratecontrol = V4L2_MPEG_VIDEO_BITRATE_MODE_CBR;
//     ctx->iframe_interval = 30;
//     ctx->externalRPS = false;
//     ctx->enableGDR = false;
//     ctx->enableROI = false;
//     ctx->bnoIframe = false;
//     ctx->bGapsInFrameNumAllowed = false;
//     ctx->bReconCrc = false;
//     ctx->enableLossless = false;
//     ctx->nH264FrameNumBits = 0;
//     ctx->nH265PocLsbBits = 0;
//     ctx->idr_interval = 256;
//     ctx->level = -1;
//     ctx->fps_n = 30;
//     ctx->fps_d = 1;
//     ctx->gdr_start_frame_number = 0xffffffff;
//     ctx->gdr_num_frames = 0xffffffff;
//     ctx->gdr_out_frame_number = 0xffffffff;
//     ctx->num_b_frames = (uint32_t) -1;
//     ctx->nMinQpI = (uint32_t)QP_RETAIN_VAL;
//     ctx->nMaxQpI = (uint32_t)QP_RETAIN_VAL;
//     ctx->nMinQpP = (uint32_t)QP_RETAIN_VAL;
//     ctx->nMaxQpP = (uint32_t)QP_RETAIN_VAL;
//     ctx->nMinQpB = (uint32_t)QP_RETAIN_VAL;
//     ctx->nMaxQpB = (uint32_t)QP_RETAIN_VAL;
//     ctx->use_gold_crc = false;
//     ctx->pBitStreamCrc = NULL;
//     ctx->externalRCHints = false;
//     ctx->input_metadata = false;
//     ctx->sMaxQp = 51;
//     ctx->stats = false;
//     ctx->stress_test = 1;
//     ctx->output_memory_type = V4L2_MEMORY_DMABUF;
//     ctx->capture_memory_type = V4L2_MEMORY_MMAP;
//     ctx->cs = V4L2_COLORSPACE_SMPTE170M;
//     ctx->copy_timestamp = false;
//     ctx->sar_width = 0;
//     ctx->sar_height = 0;
//     ctx->start_ts = 0;
//     ctx->max_perf = 0;
//     ctx->blocking_mode = 1;
//     ctx->startf = 0;
//     ctx->endf = 0;
//     ctx->num_output_buffers = 6;
//     ctx->num_frames_to_encode = -1;
//     ctx->poc_type = 0;
//     ctx->chroma_format_idc = -1;
//     ctx->bit_depth = 8;
//     ctx->is_semiplanar = false;
//     ctx->enable_initQP = false;
//     ctx->IinitQP = 0;
//     ctx->PinitQP = 0;
//     ctx->BinitQP = 0;
//     ctx->enable_ratecontrol = true;
//     ctx->enable_av1tile = false;
//     ctx->log2_num_av1rows = 0;
//     ctx->log2_num_av1cols = 0;
//     ctx->enable_av1ssimrdo = (uint8_t)-1;
//     ctx->disable_av1cdfupdate = (uint8_t)-1;
//     ctx->ppe_init_params.enable_ppe = false;
//     ctx->ppe_init_params.wait_time_ms = -1;
//     ctx->ppe_init_params.feature_flags = V4L2_PPE_FEATURE_NONE;
//     ctx->ppe_init_params.enable_profiler = 0;
//     ctx->ppe_init_params.taq_max_qp_delta = 5;
//     /* TAQ for B-frames is enabled by default */
//     ctx->ppe_init_params.taq_b_frame_mode = 1;
// }


static
void CalculateCrc(Crc *phCrc, unsigned char *buffer, uint32_t count)
{
    unsigned char *p;
    unsigned int temp1;
    unsigned int temp2;
    unsigned int crc = phCrc->CrcValue;
    unsigned int *CRCTable = phCrc->CRCTable;

    if(!count)
        return;

    p = (unsigned char *) buffer;
    while (count-- != 0)
    {
        temp1 = (crc >> 8) & 0x00FFFFFFL;
        temp2 = CRCTable[((unsigned int) crc ^ *p++) & 0xFF];
        crc = temp1 ^ temp2;
    }

    phCrc->CrcValue = crc;
}

/**
  * Encoder polling thread loop function.
  *
  * @param args : void arguments
  */
static void *encoder_pollthread_fcn(void *arg)
{

    context_enc_t *ctx = (context_enc_t *) arg;
    v4l2_ctrl_video_device_poll devicepoll;

    cout << "Starting Device Poll Thread " << endl;

    memset(&devicepoll, 0, sizeof(v4l2_ctrl_video_device_poll));

    /* wait here until signalled to issue the Poll call.
       Check if the abort status is set , if so exit
       Else issue the Poll on the encoder and block.
       When the Poll returns, signal the encoder thread to continue. */

    while (!ctx->got_error && !ctx->enc->isInError())
    {
        sem_wait(&ctx->pollthread_sema);

        if (ctx->got_eos)
        {
            cout << "Got eos, exiting poll thread \n";
            return NULL;
        }

        devicepoll.req_events = POLLIN | POLLOUT | POLLERR | POLLPRI;

        /* This call shall wait in the v4l2 encoder library */
        ctx->enc->DevicePoll(&devicepoll);

        /* Can check the devicepoll.resp_events bitmask to see which events are set. */
        sem_post(&ctx->encoderthread_sema);
    }
    return NULL;
}

static int
write_encoder_output_frame(ofstream * stream, NvBuffer * buffer)
{
    stream->write((char *) buffer->planes[0].data, buffer->planes[0].bytesused);
    return 0;
}


static bool
encoder_capture_plane_dq_callback(struct v4l2_buffer *v4l2_buf, NvBuffer * buffer,
                                  NvBuffer * shared_buffer, void *arg)
{
    printf("------------------------------------\n");
    context_enc_t *ctx = (context_enc_t *) arg;
    NvVideoEncoder *enc = ctx->enc;
    pthread_setname_np(pthread_self(), "EncCapPlane");
    uint32_t frame_num = ctx->enc->capture_plane.getTotalDequeuedBuffers() - 1;
    uint32_t ReconRef_Y_CRC = 0;
    uint32_t ReconRef_U_CRC = 0;
    uint32_t ReconRef_V_CRC = 0;
    static uint32_t num_encoded_frames = 1;
    struct v4l2_event ev;
    int ret = 0;

    if (v4l2_buf == NULL)
    {
        cout << "Error while dequeing buffer from output plane" << endl;
        abort(ctx);
        return false;
    }

    if (ctx->b_use_enc_cmd)
    {
        if(v4l2_buf->flags & V4L2_BUF_FLAG_LAST)
        {
            memset(&ev,0,sizeof(struct v4l2_event));
            ret = ctx->enc->dqEvent(ev,1000);
            if (ret < 0)
                cout << "Error in dqEvent" << endl;
            if(ev.type == V4L2_EVENT_EOS)
                return false;
        }
    }

    /* Received EOS from encoder. Stop dqthread. */
    if (buffer->planes[0].bytesused == 0)
    {
        cout << "Got 0 size buffer in capture \n";
        return false;
    }

    /* Computing CRC with each frame */
    if(ctx->pBitStreamCrc)
        CalculateCrc (ctx->pBitStreamCrc, buffer->planes[0].data, buffer->planes[0].bytesused);

    if (!ctx->stats)
        
        write_encoder_output_frame(ctx->out_file, buffer);

    /* Accounting for the first frame as it is only sps+pps */
    if (ctx->gdr_out_frame_number != 0xFFFFFFFF)
        if ( (ctx->enableGDR) && (ctx->GDR_out_file_path) && (num_encoded_frames >= ctx->gdr_out_frame_number+1))
            write_encoder_output_frame(ctx->gdr_out_file, buffer);

    num_encoded_frames++;

    if (ctx->report_metadata)
    {
        v4l2_ctrl_videoenc_outputbuf_metadata enc_metadata;
        if (ctx->enc->getMetadata(v4l2_buf->index, enc_metadata) == 0)
        {
            if (ctx->bReconCrc && enc_metadata.bValidReconCRC) {
                /* CRC for Recon frame */
                cout << "Frame: " << frame_num << endl;
                cout << "ReconFrame_Y_CRC " << enc_metadata.ReconFrame_Y_CRC <<
                    " ReconFrame_U_CRC " << enc_metadata.ReconFrame_U_CRC <<
                    " ReconFrame_V_CRC " << enc_metadata.ReconFrame_V_CRC <<
                    endl;

                if (!ctx->recon_Ref_file->eof())
                {
                    string recon_ref_YUV_data[4];

                    parse_csv_recon_file(ctx->recon_Ref_file, recon_ref_YUV_data);

                    ReconRef_Y_CRC = stoul(recon_ref_YUV_data[0]);
                    ReconRef_U_CRC = stoul(recon_ref_YUV_data[1]);
                    ReconRef_V_CRC = stoul(recon_ref_YUV_data[2]);
                }

                if ((ReconRef_Y_CRC != enc_metadata.ReconFrame_Y_CRC) ||
                    (ReconRef_U_CRC != enc_metadata.ReconFrame_U_CRC) ||
                    (ReconRef_V_CRC != enc_metadata.ReconFrame_V_CRC))
                {
                    cout << "Recon CRC FAIL" << endl;
                    cout << "ReconRef_Y_CRC " << ReconRef_Y_CRC <<
                        " ReconRef_U_CRC " << ReconRef_U_CRC <<
                        " ReconRef_V_CRC " << ReconRef_V_CRC <<
                        endl;
                    abort(ctx);
                    return false;
                }
                cout << "Recon CRC PASS for frame : " << frame_num << endl;
            } else if (ctx->externalRPS && enc_metadata.bRPSFeedback_status) {
                /* RPS Feedback */
                ctx->rps_par.nActiveRefFrames = enc_metadata.nActiveRefFrames;
                cout << "Frame: " << frame_num << endl;
                cout << "nCurrentRefFrameId " << enc_metadata.nCurrentRefFrameId <<
                     " nActiveRefFrames " << enc_metadata.nActiveRefFrames << endl;

                for (uint32_t i = 0; i < enc_metadata.nActiveRefFrames; i++)
                {
                    /* Update RPS List */
                    ctx->rps_par.rps_list[i].nFrameId = enc_metadata.RPSList[i].nFrameId;
                    ctx->rps_par.rps_list[i].bLTRefFrame = enc_metadata.RPSList[i].bLTRefFrame;
                    cout << "FrameId " << enc_metadata.RPSList[i].nFrameId <<
                     " IdrFrame " <<  (int) enc_metadata.RPSList[i].bIdrFrame <<
                     " LTRefFrame " <<  (int) enc_metadata.RPSList[i].bLTRefFrame <<
                     " PictureOrderCnt " << enc_metadata.RPSList[i].nPictureOrderCnt <<
                     " FrameNum " << enc_metadata.RPSList[i].nFrameNum <<
                     " LTFrameIdx " <<  enc_metadata.RPSList[i].nLTRFrameIdx << endl;
                }
            } else if (ctx->externalRCHints) {
                /* Rate Control Feedback */
                cout << "Frame: " << frame_num << endl;
                cout << "EncodedBits " << enc_metadata.EncodedFrameBits <<
                    " MinQP " << enc_metadata.FrameMinQP <<
                    " MaxQP " << enc_metadata.FrameMaxQP <<
                    endl;
            } else {
                cout << "Frame " << frame_num <<
                    ": isKeyFrame=" << (int) enc_metadata.KeyFrame <<
                    " AvgQP=" << enc_metadata.AvgQP <<
                    " MinQP=" << enc_metadata.FrameMinQP <<
                    " MaxQP=" << enc_metadata.FrameMaxQP <<
                    " EncodedBits=" << enc_metadata.EncodedFrameBits <<
                    endl;
            }
        }
    }
    if (ctx->dump_mv)
    {
        /* Get motion vector parameters of the frames from encoder */
        v4l2_ctrl_videoenc_outputbuf_metadata_MV enc_mv_metadata;
        if (ctx->enc->getMotionVectors(v4l2_buf->index, enc_mv_metadata) == 0)
        {
            uint32_t numMVs = enc_mv_metadata.bufSize / sizeof(MVInfo);
            MVInfo *pInfo = enc_mv_metadata.pMVInfo;

            cout << "Frame " << frame_num << ": Num MVs=" << numMVs << endl;

            for (uint32_t i = 0; i < numMVs; i++, pInfo++)
            {
                cout << i << ": mv_x=" << pInfo->mv_x <<
                    " mv_y=" << pInfo->mv_y <<
                    " weight=" << pInfo->weight <<
                    endl;
            }
        }
    }

    if (ctx->blocking_mode && ctx->RPS_threeLayerSvc)
    {
        sem_post(&ctx->rps_par.sema);
    }

    /* encoder qbuffer for capture plane */
    if (enc->capture_plane.qBuffer(*v4l2_buf, NULL) < 0)
    {
        cerr << "Error while Qing buffer at capture plane" << endl;
        abort(ctx);
        return false;
    }

    return true;
}


static int
setup_output_dmabuf(context_enc_t *ctx, uint32_t num_buffers )
{
    int ret=0;
    NvBufSurf::NvCommonAllocateParams cParams;
    int fd;
    ret = ctx->enc->output_plane.reqbufs(V4L2_MEMORY_DMABUF,num_buffers);
    if(ret)
    {
        cerr << "reqbufs failed for output plane V4L2_MEMORY_DMABUF" << endl;
        return ret;
    }
    for (uint32_t i = 0; i < ctx->enc->output_plane.getNumBuffers(); i++)
    {
        cParams.width = ctx->width;
        cParams.height = ctx->height;
        cParams.layout = NVBUF_LAYOUT_PITCH;
        switch (ctx->cs)
        {
            case V4L2_COLORSPACE_REC709:
                cParams.colorFormat = ctx->enable_extended_colorformat ?
                    NVBUF_COLOR_FORMAT_YUV420_709_ER : NVBUF_COLOR_FORMAT_YUV420_709;
                break;
            case V4L2_COLORSPACE_SMPTE170M:
            default:
                cParams.colorFormat = ctx->enable_extended_colorformat ?
                    NVBUF_COLOR_FORMAT_YUV420_ER : NVBUF_COLOR_FORMAT_YUV420;
        }
        if (ctx->is_semiplanar)
        {
            cParams.colorFormat = NVBUF_COLOR_FORMAT_NV12;
        }
        if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H264)
        {
            if (ctx->enableLossless)
            {
                if (ctx->is_semiplanar)
                    cParams.colorFormat = NVBUF_COLOR_FORMAT_NV24;
                else
                    cParams.colorFormat = NVBUF_COLOR_FORMAT_YUV444;
            }
        }
        else if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H265)
        {
            if (ctx->chroma_format_idc == 3)
            {
                if (ctx->is_semiplanar)
                    cParams.colorFormat = NVBUF_COLOR_FORMAT_NV24;
                else
                    cParams.colorFormat = NVBUF_COLOR_FORMAT_YUV444;

                if (ctx->bit_depth == 10)
                    cParams.colorFormat = NVBUF_COLOR_FORMAT_NV24_10LE;
            }
            if (ctx->profile == V4L2_MPEG_VIDEO_H265_PROFILE_MAIN10 && (ctx->bit_depth == 10))
            {
                cParams.colorFormat = NVBUF_COLOR_FORMAT_NV12_10LE;
            }
        }
        cParams.memtag = NvBufSurfaceTag_VIDEO_ENC;
        cParams.memType = NVBUF_MEM_SURFACE_ARRAY;
        /* Create output plane fd for DMABUF io-mode */
        ret = NvBufSurf::NvAllocate(&cParams, 1, &fd);
        if(ret < 0)
        {
            cerr << "Failed to create NvBuffer" << endl;
            return ret;
        }
        ctx->output_plane_fd[i]=fd;
    }
    return ret;
}

static int
setup_capture_dmabuf(context_enc_t *ctx, uint32_t num_buffers )
{
    NvBufSurfaceAllocateParams cParams = {{0}};
    NvBufSurface *surface = 0;
    int ret=0;

    ret = ctx->enc->capture_plane.reqbufs(V4L2_MEMORY_DMABUF,num_buffers);
    if(ret)
    {
        cerr << "reqbufs failed for capture plane V4L2_MEMORY_DMABUF" << endl;
        return ret;
    }

    for (uint32_t i = 0; i < ctx->enc->capture_plane.getNumBuffers(); i++)
    {
        ret = ctx->enc->capture_plane.queryBuffer(i);
        if (ret)
        {
            cerr << "Error in querying for " << i << "th buffer plane" << endl;
            return ret;
        }

        NvBuffer *buffer = ctx->enc->capture_plane.getNthBuffer(i);

        cParams.params.memType = NVBUF_MEM_HANDLE;
        cParams.params.size = buffer->planes[0].length;
        cParams.memtag = NvBufSurfaceTag_VIDEO_ENC;

        ret = NvBufSurfaceAllocate(&surface, 1, &cParams);
        if(ret < 0)
        {
            cerr << "Failed to create NvBuffer" << endl;
            return ret;
        }
        surface->numFilled = 1;

        ctx->capture_plane_fd[i] = surface->surfaceList[0].bufferDesc;
    }

    return ret;
}

static int
get_next_parsed_pair(context_enc_t *ctx, char *id, uint32_t *value)
{
    char charval;

    *ctx->runtime_params_str >> *id;
    if (ctx->runtime_params_str->eof())
    {
        return -1;
    }

    charval = ctx->runtime_params_str->peek();
    if (!IS_DIGIT(charval))
    {
        return -1;
    }

    *ctx->runtime_params_str >> *value;

    *ctx->runtime_params_str >> charval;
    if (ctx->runtime_params_str->eof())
    {
        return 0;
    }

    return charval;
}


static int
get_next_runtime_param_change_frame(context_enc_t *ctx)
{
    char charval;
    int ret;

    ret = get_next_parsed_pair(ctx, &charval, &ctx->next_param_change_frame);
    if(ret == 0)
    {
        return 0;
    }

    // TEST_PARSE_ERROR((ret != ';' && ret != ',') || charval != 'f', err);

    return 0;

// err:
//     cerr << "Skipping further runtime parameter changes" <<endl;
//     delete ctx->runtime_params_str;
//     ctx->runtime_params_str = NULL;
//     return -1;
}

VideoFrameType ConvertToVideoFrameType(EVideoFrameType type) {
  switch (type) {
    case videoFrameTypeIDR:
      return VideoFrameType::kVideoFrameKey;
    case videoFrameTypeSkip:
    case videoFrameTypeI:
    case videoFrameTypeP:
    case videoFrameTypeIPMixed:
      return VideoFrameType::kVideoFrameDelta;
    case videoFrameTypeInvalid:
      break;
  }
  RTC_NOTREACHED() << "Unexpected/invalid frame type: " << type;
  return VideoFrameType::kEmptyFrame;
}

}  // namespace

// Helper method used by H264EncoderImpl::Encode.
// Copies the encoded bytes from |info| to |encoded_image|. The
// |encoded_image->_buffer| may be deleted and reallocated if a bigger buffer is
// required.
//
// After OpenH264 encoding, the encoded bytes are stored in |info| spread out
// over a number of layers and "NAL units". Each NAL unit is a fragment starting
// with the four-byte start code {0,0,0,1}. All of this data (including the
// start codes) is copied to the |encoded_image->_buffer|.
static void RtpFragmentize(EncodedImage* encoded_image, SFrameBSInfo* info) {
  // Calculate minimum buffer size required to hold encoded data.
  size_t required_capacity = 0;
  size_t fragments_count = 0;
  for (int layer = 0; layer < info->iLayerNum; ++layer) {
    const SLayerBSInfo& layerInfo = info->sLayerInfo[layer];
    for (int nal = 0; nal < layerInfo.iNalCount; ++nal, ++fragments_count) {
      RTC_CHECK_GE(layerInfo.pNalLengthInByte[nal], 0);
      // Ensure |required_capacity| will not overflow.
      RTC_CHECK_LE(layerInfo.pNalLengthInByte[nal],
                   std::numeric_limits<size_t>::max() - required_capacity);
      required_capacity += layerInfo.pNalLengthInByte[nal];
    }
  }
  // TODO(nisse): Use a cache or buffer pool to avoid allocation?
  auto buffer = EncodedImageBuffer::Create(required_capacity);
  encoded_image->SetEncodedData(buffer);

  // Iterate layers and NAL units, note each NAL unit as a fragment and copy
  // the data to |encoded_image->_buffer|.
  const uint8_t start_code[4] = {0, 0, 0, 1};
  size_t frag = 0;
  encoded_image->set_size(0);
  for (int layer = 0; layer < info->iLayerNum; ++layer) {
    const SLayerBSInfo& layerInfo = info->sLayerInfo[layer];
    // Iterate NAL units making up this layer, noting fragments.
    size_t layer_len = 0;
    for (int nal = 0; nal < layerInfo.iNalCount; ++nal, ++frag) {
      // Because the sum of all layer lengths, |required_capacity|, fits in a
      // |size_t|, we know that any indices in-between will not overflow.
      RTC_DCHECK_GE(layerInfo.pNalLengthInByte[nal], 4);
      RTC_DCHECK_EQ(layerInfo.pBsBuf[layer_len + 0], start_code[0]);
      RTC_DCHECK_EQ(layerInfo.pBsBuf[layer_len + 1], start_code[1]);
      RTC_DCHECK_EQ(layerInfo.pBsBuf[layer_len + 2], start_code[2]);
      RTC_DCHECK_EQ(layerInfo.pBsBuf[layer_len + 3], start_code[3]);
      layer_len += layerInfo.pNalLengthInByte[nal];
    }
    // Copy the entire layer's data (including start codes).
    memcpy(buffer->data() + encoded_image->size(), layerInfo.pBsBuf, layer_len);
    encoded_image->set_size(encoded_image->size() + layer_len);
  }
}

JetH264Encoder::JetH264Encoder(const cricket::VideoCodec& codec)
    : packetization_mode_(H264PacketizationMode::SingleNalUnit),
      max_payload_size_(0),
      number_of_cores_(0),
      encoded_image_callback_(nullptr),
      has_reported_init_(false),
      has_reported_error_(false) {
  RTC_CHECK(absl::EqualsIgnoreCase(codec.name, cricket::kH264CodecName));
  std::string packetization_mode_string;
  if (codec.GetParam(cricket::kH264FmtpPacketizationMode,
                     &packetization_mode_string) &&
      packetization_mode_string == "1") {
    packetization_mode_ = H264PacketizationMode::NonInterleaved;
  }
  downscaled_buffers_.reserve(kMaxSimulcastStreams - 1);
  encoded_images_.reserve(kMaxSimulcastStreams);
  encoders_.reserve(kMaxSimulcastStreams);
  configurations_.reserve(kMaxSimulcastStreams);
  tl0sync_limit_.reserve(kMaxSimulcastStreams);
}

JetH264Encoder::~JetH264Encoder() {
  Release();
}



// //增加
bool JetH264Encoder::OpenEncoder(context_enc_t *ctx, JetH264Encoder::LayerConfig &config) 
{

    int ret = 0;
    int error = 0;
    bool eos = false;

    memset(ctx, 0, sizeof(context_enc_t));

    // ctx->in_file_path = "/home/nvidia/Desktop/env_enc/jetson_enc/build/output.yuv";
    // ctx->out_file_path = "test.h264";
    // ctx->width = 1280;
    // ctx->height = 720;
    ctx->encoder_pixfmt = V4L2_PIX_FMT_H264;
    
    ctx->raw_pixfmt = V4L2_PIX_FMT_YUV420M;
    ctx->bitrate = 4 * 1024 * 1024;
    ctx->peak_bitrate = 0;
    ctx->profile = V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE;
    ctx->ratecontrol = V4L2_MPEG_VIDEO_BITRATE_MODE_CBR;
    ctx->iframe_interval = 30;
    ctx->externalRPS = false;
    ctx->enableGDR = false;
    ctx->enableROI = false;
    ctx->bnoIframe = false;
    ctx->bGapsInFrameNumAllowed = false;
    ctx->bReconCrc = false;
    ctx->enableLossless = false;
    ctx->nH264FrameNumBits = 0;
    ctx->nH265PocLsbBits = 0;
    ctx->idr_interval = 256;
    ctx->level = -1;
    ctx->fps_n = 30;
    ctx->fps_d = 1;
    ctx->gdr_start_frame_number = 0xffffffff;
    ctx->gdr_num_frames = 0xffffffff;
    ctx->gdr_out_frame_number = 0xffffffff;
    ctx->num_b_frames = (uint32_t) -1;
    ctx->nMinQpI = (uint32_t)QP_RETAIN_VAL;
    ctx->nMaxQpI = (uint32_t)QP_RETAIN_VAL;
    ctx->nMinQpP = (uint32_t)QP_RETAIN_VAL;
    ctx->nMaxQpP = (uint32_t)QP_RETAIN_VAL;
    ctx->nMinQpB = (uint32_t)QP_RETAIN_VAL;
    ctx->nMaxQpB = (uint32_t)QP_RETAIN_VAL;
    ctx->use_gold_crc = false;
    ctx->pBitStreamCrc = NULL;
    ctx->externalRCHints = false;
    ctx->input_metadata = false;
    ctx->sMaxQp = 51;
    ctx->stats = false;
    ctx->stress_test = 1;
    ctx->output_memory_type = V4L2_MEMORY_DMABUF;
    ctx->capture_memory_type = V4L2_MEMORY_MMAP;
    ctx->cs = V4L2_COLORSPACE_SMPTE170M;
    ctx->copy_timestamp = false;
    ctx->sar_width = 0;
    ctx->sar_height = 0;
    ctx->start_ts = 0;
    ctx->max_perf = 0;
    ctx->blocking_mode = 1;
    ctx->startf = 0;
    ctx->endf = 0;
    ctx->num_output_buffers = 6;
    ctx->num_frames_to_encode = -1;
    ctx->poc_type = 0;
    ctx->chroma_format_idc = -1;
    ctx->bit_depth = 8;
    ctx->is_semiplanar = false;
    ctx->enable_initQP = false;
    ctx->IinitQP = 0;
    ctx->PinitQP = 0;
    ctx->BinitQP = 0;
    ctx->enable_ratecontrol = true;
    ctx->enable_av1tile = false;
    ctx->log2_num_av1rows = 0;
    ctx->log2_num_av1cols = 0;
    ctx->enable_av1ssimrdo = (uint8_t)-1;
    ctx->disable_av1cdfupdate = (uint8_t)-1;
    ctx->ppe_init_params.enable_ppe = false;
    ctx->ppe_init_params.wait_time_ms = -1;
    ctx->ppe_init_params.feature_flags = V4L2_PPE_FEATURE_NONE;
    ctx->ppe_init_params.enable_profiler = 0;
    ctx->ppe_init_params.taq_max_qp_delta = 5;
    /* TAQ for B-frames is enabled by default */
    ctx->ppe_init_params.taq_b_frame_mode = 1;

    /* Set default values for encoder context members. */
    // set_defaults(&ctx);

    /* Parse application command line options. */
    // ret = parse_csv_args(&ctx, argc, argv);
    // TEST_ERROR(ret < 0, "Error parsing commandline arguments", cleanup);
    // std ::cout << ctx.encoder_pixfmt << std::endl;

    /* Set thread name for encoder Output Plane thread. */
    pthread_setname_np(pthread_self(),"EncOutPlane");

    // /* Get the parsed encoder runtime parameters */
    // if (ctx->runtime_params_str)
    // {
    //     get_next_runtime_param_change_frame(&ctx);
    // }

    if (ctx->endf) {
        ctx->num_frames_to_encode = ctx->endf - ctx->startf + 1;
    }

    if (ctx->use_gold_crc)
    {
        /* CRC specific initializetion if gold_crc flag is set */
        ctx->pBitStreamCrc = InitCrc(CRC32_POLYNOMIAL);
    }

    /* Open input file  for raw yuv */

    ctx->in_file = new ifstream(ctx->in_file_path);

    if (!ctx->stats)
    {
        /* Open output file for encoded bitstream */
        ctx->out_file = new ofstream(ctx->out_file_path);
    }

    if (ctx->ROI_Param_file_path) {
        /* Open Region of Intreset(ROI) parameter file when ROI feature enabled */
        ctx->roi_Param_file = new ifstream(ctx->ROI_Param_file_path);
    }

    if (ctx->Recon_Ref_file_path) {
        /* Open Reconstructed CRC reference file when ReconCRC feature enabled */
        ctx->recon_Ref_file = new ifstream(ctx->Recon_Ref_file_path);
    }

    if (ctx->RPS_Param_file_path) {
        /* Open Reference Picture set(RPS) specififc reference file when Dynamic RPS feature enabled */
        ctx->rps_Param_file = new ifstream(ctx->RPS_Param_file_path);
    }

    if (ctx->GDR_Param_file_path) {
        /* Open Gradual Decoder Refresh(GDR) parameters reference file when GDR feature enabled */
        ctx->gdr_Param_file = new ifstream(ctx->GDR_Param_file_path);
    }

    if (ctx->GDR_out_file_path) {
        /* Open Gradual Decoder Refresh(GDR) output parameters reference file when GDR feature enabled */
        ctx->gdr_out_file = new ofstream(ctx->GDR_out_file_path);
    }

    if (ctx->hints_Param_file_path) {
        /* Open external hints parameters file for when external rate control feature enabled */
        ctx->hints_Param_file = new ifstream(ctx->hints_Param_file_path);
    }

    /* Create NvVideoEncoder object for blocking or non-blocking I/O mode. */
    //进入
    if (ctx->blocking_mode)
    {
        cout << "Creating Encoder in blocking mode \n";
        ctx->enc = NvVideoEncoder::createVideoEncoder("enc0");
    }
    else
    {
        cout << "Creating Encoder in non-blocking mode \n";
        ctx->enc = NvVideoEncoder::createVideoEncoder("enc0", O_NONBLOCK);
    }

    if (ctx->stats)
    {
        ctx->enc->enableProfiling();
    }

    /* Set encoder capture plane format.
       NOTE: It is necessary that Capture Plane format be set before Output Plane
       format. It is necessary to set width and height on the capture plane as well */
    ret =
        ctx->enc->setCapturePlaneFormat(ctx->encoder_pixfmt, ctx->width,
                                      ctx->height, 2 * 1024 * 1024);

    if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H265)
    {
        switch (ctx->profile)
        {
            case V4L2_MPEG_VIDEO_H265_PROFILE_MAIN10:
            {
                ctx->raw_pixfmt = V4L2_PIX_FMT_P010M;
                ctx->is_semiplanar = true; /* To keep previous execution commands working */
                ctx->bit_depth = 10;
                break;
            }
            case V4L2_MPEG_VIDEO_H265_PROFILE_MAIN:
            {
                if (ctx->is_semiplanar)
                    ctx->raw_pixfmt = V4L2_PIX_FMT_NV12M;
                else
                    ctx->raw_pixfmt = V4L2_PIX_FMT_YUV420M;
                if (ctx->chroma_format_idc == 3)
                {
                    if (ctx->bit_depth == 10 && ctx->is_semiplanar)
                        ctx->raw_pixfmt = V4L2_PIX_FMT_NV24_10LE;
                    if (ctx->bit_depth == 8)
                    {
                        if (ctx->is_semiplanar)
                            ctx->raw_pixfmt = V4L2_PIX_FMT_NV24M;
                        else
                            ctx->raw_pixfmt = V4L2_PIX_FMT_YUV444M;
                    }
                }
            }
                break;
            default:
                ctx->raw_pixfmt = V4L2_PIX_FMT_YUV420M;
        }
    }
    if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H264)
    {
        if (ctx->enableLossless &&
            ctx->profile == V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE)
        {
            if (ctx->is_semiplanar)
                ctx->raw_pixfmt = V4L2_PIX_FMT_NV24M;
            else
                ctx->raw_pixfmt = V4L2_PIX_FMT_YUV444M;
        }
        else if ((ctx->enableLossless &&
            ctx->profile != V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE) ||
            (!ctx->enableLossless && ctx->profile == V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE))
        {
            cerr << "Lossless encoding is supported only for high444 profile\n";
            error = 1;
            // goto cleanup;
        }
        else
        {
            if (ctx->is_semiplanar)
                ctx->raw_pixfmt = V4L2_PIX_FMT_NV12M;
            else
                ctx->raw_pixfmt = V4L2_PIX_FMT_YUV420M;
        }
    }

    /* Set encoder output plane format */
    ret = ctx->enc->setOutputPlaneFormat(ctx->raw_pixfmt, ctx->width, ctx->height);

    if (ctx->num_frames_to_encode)
    {
        ret = ctx->enc->setFramesToEncode(ctx->num_frames_to_encode);
    }

    ret = ctx->enc->setBitrate(ctx->bitrate);

    if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H264)
    {
        /* Set encoder profile for H264 format */
        ret = ctx->enc->setProfile(ctx->profile);

        if (ctx->level == (uint32_t)-1)
        {
            ctx->level = (uint32_t)V4L2_MPEG_VIDEO_H264_LEVEL_5_1;
        }

        ret = ctx->enc->setLevel(ctx->level);
    }
    else if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H265)
    {
        ret = ctx->enc->setProfile(ctx->profile);

        if (ctx->level != (uint32_t)-1)
        {
            ret = ctx->enc->setLevel(ctx->level);
        }

        if (ctx->chroma_format_idc != (uint8_t)-1)
        {
            ret = ctx->enc->setChromaFactorIDC(ctx->chroma_format_idc);
        }
    }

    if (ctx->enable_initQP)
    {
        ret = ctx->enc->setInitQP(ctx->IinitQP, ctx->PinitQP, ctx->BinitQP);
    }

    if (ctx->enableLossless)
    {
        ret = ctx->enc->setLossless(ctx->enableLossless);
    }
    else if (!ctx->enable_ratecontrol)
    {
        /* Set constant QP configuration by disabling rate control */
        ret = ctx->enc->setConstantQp(ctx->enable_ratecontrol);
    }
    else
    {
        /* Set rate control mode for encoder */
        ret = ctx->enc->setRateControlMode(ctx->ratecontrol);
        if (ctx->ratecontrol == V4L2_MPEG_VIDEO_BITRATE_MODE_VBR) {
            uint32_t peak_bitrate;
            if (ctx->peak_bitrate < ctx->bitrate)
                peak_bitrate = 1.2f * ctx->bitrate;
            else
                peak_bitrate = ctx->peak_bitrate;
            /* Set peak bitrate value for variable bitrate mode for encoder */
            ret = ctx->enc->setPeakBitrate(peak_bitrate);
        }
    }

    if (ctx->poc_type)
    {
        ret = ctx->enc->setPocType(ctx->poc_type);
    }

    /* Set IDR frame interval for encoder */
    ret = ctx->enc->setIDRInterval(ctx->idr_interval);

    /* Set I frame interval for encoder */
    ret = ctx->enc->setIFrameInterval(ctx->iframe_interval);

    /* Set framerate for encoder */
    ret = ctx->enc->setFrameRate(ctx->fps_n, ctx->fps_d);

    if (ctx->temporal_tradeoff_level)
    {
        /* Set temporal tradeoff level value for encoder */
        ret = ctx->enc->setTemporalTradeoff(ctx->temporal_tradeoff_level);
    }

    if (ctx->slice_length)
    {
        /* Set slice length value for encoder */
        ret = ctx->enc->setSliceLength(ctx->slice_length_type,
                ctx->slice_length);
    }

    if (ctx->enable_slice_level_encode)
    {
        /* Enable slice level encode for encoder */
        ret = ctx->enc->setSliceLevelEncode(true);
    }

    if (ctx->hw_preset_type)
    {
        /* Set hardware preset value for encoder */
        ret = ctx->enc->setHWPresetType(ctx->hw_preset_type);
    }

    if (ctx->virtual_buffer_size)
    {
        /* Set virtual buffer size value for encoder */
        ret = ctx->enc->setVirtualBufferSize(ctx->virtual_buffer_size);
    }

    if (ctx->slice_intrarefresh_interval)
    {
        /* Set slice intra refresh interval value for encoder */
        ret = ctx->enc->setSliceIntrarefresh(ctx->slice_intrarefresh_interval);
    }

    if (ctx->insert_sps_pps_at_idr)
    {
        /* Enable insert of SPSPPS at IDR frames */
        ret = ctx->enc->setInsertSpsPpsAtIdrEnabled(true);
    }

    if (ctx->disable_cabac)
    {
        /* Disable CABAC entropy encoding */
        ret = ctx->enc->setCABAC(false);
    }

    if (ctx->sar_width)
    {
        /* Set SAR width */
        ret = ctx->enc->setSampleAspectRatioWidth(ctx->sar_width);
    }

    if (ctx->sar_height)
    {
        /* Set SAR width */
        ret = ctx->enc->setSampleAspectRatioHeight(ctx->sar_height);
    }

    if (ctx->insert_vui)
    {
        /* Enable insert of VUI parameters */
        ret = ctx->enc->setInsertVuiEnabled(true);
    }

    if (ctx->enable_extended_colorformat)
    {
        /* Enable extnded colorformat for encoder */
        ret = ctx->enc->setExtendedColorFormat(true);
    }

    if (ctx->insert_aud)
    {
        /* Enable insert of AUD parameters */
        ret = ctx->enc->setInsertAudEnabled(true);
    }

    if (ctx->alliframes)
    {
        /* Enable all I-frame encode */
        ret = ctx->enc->setAlliFramesEncode(true);
    }

    if (ctx->num_b_frames != (uint32_t) -1)
    {
        /* Set number of B-frames to to be used by encoder */
        ret = ctx->enc->setNumBFrames(ctx->num_b_frames);
    }

    if ((ctx->nMinQpI != (uint32_t)QP_RETAIN_VAL) ||
        (ctx->nMaxQpI != (uint32_t)QP_RETAIN_VAL) ||
        (ctx->nMinQpP != (uint32_t)QP_RETAIN_VAL) ||
        (ctx->nMaxQpP != (uint32_t)QP_RETAIN_VAL) ||
        (ctx->nMinQpB != (uint32_t)QP_RETAIN_VAL) ||
        (ctx->nMaxQpB != (uint32_t)QP_RETAIN_VAL))
    {
        /* Set Min & Max qp range values for I/P/B-frames to be used by encoder */
        ret = ctx->enc->setQpRange(ctx->nMinQpI, ctx->nMaxQpI, ctx->nMinQpP,
                ctx->nMaxQpP, ctx->nMinQpB, ctx->nMaxQpB);
    }

    if (ctx->max_perf)
    {
        /* Enable maximum performance mode by disabling internal DFS logic.
           NOTE: This enables encoder to run at max clocks */
        ret = ctx->enc->setMaxPerfMode(ctx->max_perf);
    }

    if (ctx->dump_mv)
    {
        /* Enable dumping of motion vectors report from encoder */
        ret = ctx->enc->enableMotionVectorReporting();
    }

    if (ctx->bnoIframe) {
        ctx->iframe_interval = ((1<<31) + 1); /* TODO: how can we do this properly */
        ret = ctx->enc->setIFrameInterval(ctx->iframe_interval);
    }

    if (ctx->enableROI) {
        v4l2_enc_enable_roi_param VEnc_enable_ext_roi_ctrl;

        VEnc_enable_ext_roi_ctrl.bEnableROI = ctx->enableROI;
        /* Enable region of intrest configuration for encoder */
        ret = ctx->enc->enableROI(VEnc_enable_ext_roi_ctrl);
    }

    if (ctx->bReconCrc) {
        v4l2_enc_enable_reconcrc_param VEnc_enable_recon_crc_ctrl;

        VEnc_enable_recon_crc_ctrl.bEnableReconCRC = ctx->bReconCrc;
        /* Enable reconstructed CRC configuration for encoder */
        ret = ctx->enc->enableReconCRC(VEnc_enable_recon_crc_ctrl);
    }

    if (ctx->externalRPS) {
        v4l2_enc_enable_ext_rps_ctr VEnc_enable_ext_rps_ctrl;

        VEnc_enable_ext_rps_ctrl.bEnableExternalRPS = ctx->externalRPS;
        if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H264) {
            VEnc_enable_ext_rps_ctrl.bGapsInFrameNumAllowed = ctx->bGapsInFrameNumAllowed;
            VEnc_enable_ext_rps_ctrl.nH264FrameNumBits = ctx->nH264FrameNumBits;
        }
        if (ctx->encoder_pixfmt == V4L2_PIX_FMT_H265) {
            VEnc_enable_ext_rps_ctrl.nH265PocLsbBits = ctx->nH265PocLsbBits;
        }
        /* Enable external reference picture set configuration for encoder */
        ret = ctx->enc->enableExternalRPS(VEnc_enable_ext_rps_ctrl);
    }

    if (ctx->num_reference_frames)
    {
        /* Set number of reference frame configuration value for encoder */
        ret = ctx->enc->setNumReferenceFrames(ctx->num_reference_frames);
    }

    if (ctx->externalRCHints) {
        v4l2_enc_enable_ext_rate_ctr VEnc_enable_ext_rate_ctrl;

        VEnc_enable_ext_rate_ctrl.bEnableExternalPictureRC = ctx->externalRCHints;
        VEnc_enable_ext_rate_ctrl.nsessionMaxQP = ctx->sMaxQp;

        /* Enable external rate control configuration for encoder */
        ret = ctx->enc->enableExternalRC(VEnc_enable_ext_rate_ctrl);
    }

    if (ctx->encoder_pixfmt == V4L2_PIX_FMT_AV1)
    {
        if (ctx->enable_av1tile)
        {
            v4l2_enc_av1_tile_config VEnc_av1_tile_config;

            VEnc_av1_tile_config.bEnableTile = ctx->enable_av1tile;
            VEnc_av1_tile_config.nLog2RowTiles = ctx->log2_num_av1rows;
            VEnc_av1_tile_config.nLog2ColTiles = ctx->log2_num_av1cols;

            /* Enable tile configuration for encoder */
            ret = ctx->enc->enableAV1Tile(VEnc_av1_tile_config);
        }
        if (ctx->enable_av1ssimrdo != (uint8_t) -1)
        {
            ret = ctx->enc->setAV1SsimRdo(ctx->enable_av1ssimrdo);
        }
        if (ctx->disable_av1cdfupdate != (uint8_t) -1)
        {
            ret = ctx->enc->setAV1DisableCDFUpdate(ctx->disable_av1cdfupdate);
        }
    }
    /* Query, Export and Map the output plane buffers so that we can read
       raw data into the buffers */
    switch(ctx->output_memory_type)
    {
        case V4L2_MEMORY_MMAP:
            ret = ctx->enc->output_plane.setupPlane(V4L2_MEMORY_MMAP, 10, true, false);
            break;

        case V4L2_MEMORY_USERPTR:
            ret = ctx->enc->output_plane.setupPlane(V4L2_MEMORY_USERPTR, 10, false, true);
            break;

        case V4L2_MEMORY_DMABUF:
            ret = setup_output_dmabuf(ctx,10);
            break;
        default :
            break;
    }

    /* Query, Export and Map the capture plane buffers so that we can write
       encoded bitstream data into the buffers */
    switch(ctx->capture_memory_type)
    {
        case V4L2_MEMORY_MMAP:
            ret = ctx->enc->capture_plane.setupPlane(V4L2_MEMORY_MMAP, ctx->num_output_buffers, true, false);
            // TEST_ERROR(ret < 0, "Could not setup capture plane", cleanup);
            break;
        case V4L2_MEMORY_DMABUF:
            ret = setup_capture_dmabuf(ctx,ctx->num_output_buffers);
            break;
        default :
            break;
    }

    /* Subscibe for End Of Stream event */
    ret = ctx->enc->subscribeEvent(V4L2_EVENT_EOS,0,0);

    if (ctx->b_use_enc_cmd)
    {
        /* Send v4l2 command for encoder start */
        ret = ctx->enc->setEncoderCommand(V4L2_ENC_CMD_START, 0);
    }
    else
    {
        /* set encoder output plane STREAMON */
        ret = ctx->enc->output_plane.setStreamStatus(true);

        /* set encoder capture plane STREAMON */
        ret = ctx->enc->capture_plane.setStreamStatus(true);
    }


    if (ctx->blocking_mode)  //进入
    {
        if (ctx->RPS_threeLayerSvc)
        {
            sem_init(&ctx->rps_par.sema, 0, 0);
        }

        /* Set encoder capture plane dq thread callback for blocking io mode */
        ctx->enc->capture_plane.setDQThreadCallback(encoder_capture_plane_dq_callback); 

        /* startDQThread starts a thread internally which calls the
           encoder_capture_plane_dq_callback whenever a buffer is dequeued
           on the plane */
        ctx->enc->capture_plane.startDQThread(&ctx);
    }
    else
    {

        sem_init(&ctx->pollthread_sema, 0, 0);
        sem_init(&ctx->encoderthread_sema, 0, 0);
        /* Set encoder poll thread for non-blocking io mode */
        pthread_create(&ctx->enc_pollthread, NULL, encoder_pollthread_fcn, &ctx);
        pthread_setname_np(ctx->enc_pollthread, "EncPollThread");
        cout << "Created the PollThread and Encoder Thread \n";
    }

    /* Enqueue all the empty capture plane buffers. */
    //将一组缓冲区排队到编码器的捕获平面
    for (uint32_t i = 0; i < ctx->enc->capture_plane.getNumBuffers(); i++)
    {
        struct v4l2_buffer v4l2_buf;
        struct v4l2_plane planes[MAX_PLANES];

        memset(&v4l2_buf, 0, sizeof(v4l2_buf));
        memset(planes, 0, MAX_PLANES * sizeof(struct v4l2_plane));

        v4l2_buf.index = i;
        v4l2_buf.m.planes = planes;
        if(ctx->capture_memory_type == V4L2_MEMORY_DMABUF)
        {
            v4l2_buf.m.planes[0].m.fd = ctx->capture_plane_fd[i];

             /* Map capture plane buffer for memory type DMABUF. */
            ret = ctx->enc->capture_plane.mapOutputBuffers(v4l2_buf, ctx->capture_plane_fd[i]);

            // if (ret < 0)
            // {
            //     cerr << "Error while mapping buffer at capture plane" << endl;
            //     abort(&ctx);
                // goto cleanup;
            // }
        }

        ret = ctx->enc->capture_plane.qBuffer(v4l2_buf, NULL);
        // if (ret < 0)
        // {
        //     cerr << "Error while queueing buffer at capture plane" << endl;
        //     abort(&ctx);
            // goto cleanup;
        // }
    }

    if (ctx->copy_timestamp) {
      /* Set user provided timestamp when copy timestamp is enabled */
      ctx->timestamp = (ctx->start_ts * MICROSECOND_UNIT);
      ctx->timestampincr = (MICROSECOND_UNIT * 16) / ((uint32_t) (ctx->fps_n * 16));
    }

    if(ctx->ppe_init_params.enable_ppe)
    {
        ret = ctx->enc->setPPEInitParams(ctx->ppe_init_params);
        if (ret < 0){
            cerr << "Error calling setPPEInitParams" << endl;
        }
    }

   config.target_bps = config.max_bps;
    

    return true;
}




int32_t JetH264Encoder::InitEncode(const VideoCodec* inst,
                                    const VideoEncoder::Settings& settings) {
  printf("init   ----------------------------------------\n");                                 
  ReportInit();
  if (!inst || inst->codecType != kVideoCodecH264) {
    ReportError();
    return WEBRTC_VIDEO_CODEC_ERR_PARAMETER;
  }
  if (inst->maxFramerate == 0) {
    ReportError();
    return WEBRTC_VIDEO_CODEC_ERR_PARAMETER;
  }
  if (inst->width < 1 || inst->height < 1) {
    ReportError();
    return WEBRTC_VIDEO_CODEC_ERR_PARAMETER;
  }

  int32_t release_ret = Release();
  if (release_ret != WEBRTC_VIDEO_CODEC_OK) {
    ReportError();
    return release_ret;
  }

  int number_of_streams = SimulcastUtility::NumberOfSimulcastStreams(*inst);
  bool doing_simulcast = (number_of_streams > 1);

  if (doing_simulcast &&
      !SimulcastUtility::ValidSimulcastParameters(*inst, number_of_streams)) {
    return WEBRTC_VIDEO_CODEC_ERR_SIMULCAST_PARAMETERS_NOT_SUPPORTED;
  }
  downscaled_buffers_.resize(number_of_streams - 1);
  encoded_images_.resize(number_of_streams);
  encoders_.resize(number_of_streams);
  pictures_.resize(number_of_streams);//
  configurations_.resize(number_of_streams);
  tl0sync_limit_.resize(number_of_streams);


  for (int i = 0; i < number_of_streams; i++){
    encoders_[i] = new context_enc_t();
  }

  number_of_cores_ = settings.number_of_cores;
  max_payload_size_ = settings.max_payload_size;
  codec_ = *inst;

  // Code expects simulcastStream resolutions to be correct, make sure they are
  // filled even when there are no simulcast layers.
  if (codec_.numberOfSimulcastStreams == 0) {
    codec_.simulcastStream[0].width = codec_.width;
    codec_.simulcastStream[0].height = codec_.height;
  }

  for (int i = 0, idx = number_of_streams - 1; i < number_of_streams;
       ++i, --idx)
 {
    // Set internal settings from codec_settings
    configurations_[i].simulcast_idx = idx;
    configurations_[i].sending = false;
    configurations_[i].width = codec_.simulcastStream[idx].width;
    configurations_[i].height = codec_.simulcastStream[idx].height;
    configurations_[i].max_frame_rate = static_cast<float>(codec_.maxFramerate);
    configurations_[i].frame_dropping_on = codec_.H264()->frameDroppingOn;
    configurations_[i].key_frame_interval = codec_.H264()->keyFrameInterval;
    configurations_[i].num_temporal_layers = codec_.simulcastStream[idx].numberOfTemporalLayers;

    // Create downscaled image buffers.
    if (i > 0) {
      downscaled_buffers_[i - 1] = I420Buffer::Create(
          configurations_[i].width, configurations_[i].height,
          configurations_[i].width, configurations_[i].width / 2,
          configurations_[i].width / 2);
    }

    // Codec_settings uses kbits/second; encoder uses bits/second.
    configurations_[i].max_bps = codec_.maxBitrate * 1000;    //2500000
    configurations_[i].target_bps = codec_.startBitrate * 1000;  //2000000

    if (!OpenEncoder(encoders_[i], configurations_[i])) {
            Release();
            ReportError();
            return WEBRTC_VIDEO_CODEC_ERROR;
        }


    //初始化编码图片大小　　默认是 使用未编码数据大小
    // Initialize encoded image. Default buffer size: size of unencoded data.
    const size_t new_capacity =
        CalcBufferSize(VideoType::kI420, codec_.simulcastStream[idx].width,
                       codec_.simulcastStream[idx].height);
    encoded_images_[i].SetEncodedData(EncodedImageBuffer::Create(new_capacity));
    encoded_images_[i]._completeFrame = true;
    encoded_images_[i]._encodedWidth = codec_.simulcastStream[idx].width;
    encoded_images_[i]._encodedHeight = codec_.simulcastStream[idx].height;
    encoded_images_[i].set_size(0);

    tl0sync_limit_[i] = configurations_[i].num_temporal_layers;
  }

  SimulcastRateAllocator init_allocator(codec_);
  VideoBitrateAllocation allocation =
      init_allocator.Allocate(VideoBitrateAllocationParameters(
          DataRate::KilobitsPerSec(codec_.startBitrate), codec_.maxFramerate));
//   SetRates(RateControlParameters(allocation, codec_.maxFramerate));
  return WEBRTC_VIDEO_CODEC_OK;
}


// void JetH264Encoder::copyFrame(AVFrame *frame, const webrtc::I420BufferInterface *buffer) {
//     frame->width = buffer->width();
//     frame->height = buffer->height();
//     frame->format = AV_PIX_FMT_YUV420P;
//     frame->data[kYPlaneIndex] = const_cast<uint8_t *>(buffer->DataY());
//     frame->data[kUPlaneIndex] = const_cast<uint8_t *>(buffer->DataU());
//     frame->data[kVPlaneIndex] = const_cast<uint8_t *>(buffer->DataV());
// }
// int32_t JetH264Encoder::Release() {
//   while (!encoders_.empty()) {
//     // ISVCEncoder* openh264_encoder = encoders_.back();
//     context_enc_t* encoders_ = encoders_.back();
//     if (encoders_) {
//       RTC_CHECK_EQ(0, openh264_encoder->Uninitialize());
//       WelsDestroySVCEncoder(openh264_encoder);
//     }
//     encoders_.pop_back();
//   }
//   downscaled_buffers_.clear();
//   configurations_.clear();
//   encoded_images_.clear();
//   pictures_.clear();
//   tl0sync_limit_.clear();
//   return WEBRTC_VIDEO_CODEC_OK;
// }

int32_t JetH264Encoder::RegisterEncodeCompleteCallback(
    EncodedImageCallback* callback) {
  encoded_image_callback_ = callback;
  return WEBRTC_VIDEO_CODEC_OK;
}

// void JetH264Encoder::SetRates(const RateControlParameters& parameters) {
//   if (encoders_.empty()) {
//     RTC_LOG(LS_WARNING) << "SetRates() while uninitialized.";
//     return;
//   }

//   if (parameters.framerate_fps < 1.0) {
//     RTC_LOG(LS_WARNING) << "Invalid frame rate: " << parameters.framerate_fps;
//     return;
//   }

//   if (parameters.bitrate.get_sum_bps() == 0) {
//     // Encoder paused, turn off all encoding.
//     for (size_t i = 0; i < configurations_.size(); ++i) {
//       configurations_[i].SetStreamState(false);
//     }
//     return;
//   }

//   codec_.maxFramerate = static_cast<uint32_t>(parameters.framerate_fps);

//   size_t stream_idx = encoders_.size() - 1;
//   for (size_t i = 0; i < encoders_.size(); ++i, --stream_idx) {
//     // Update layer config.
//     configurations_[i].target_bps =
//         parameters.bitrate.GetSpatialLayerSum(stream_idx);
//     configurations_[i].max_frame_rate = parameters.framerate_fps;

//     if (configurations_[i].target_bps) {
//       configurations_[i].SetStreamState(true);

//       // Update h264 encoder.
//       SBitrateInfo target_bitrate;
//       memset(&target_bitrate, 0, sizeof(SBitrateInfo));
//       target_bitrate.iLayer = SPATIAL_LAYER_ALL,
//       target_bitrate.iBitrate = configurations_[i].target_bps;
//       encoders_[i]->SetOption(ENCODER_OPTION_BITRATE, &target_bitrate);
//       encoders_[i]->SetOption(ENCODER_OPTION_FRAME_RATE,
//                               &configurations_[i].max_frame_rate);
//     } else {
//       configurations_[i].SetStreamState(false);
//     }
//   }
// }

int32_t JetH264Encoder::Encode(
    const VideoFrame& input_frame,
    const std::vector<VideoFrameType>* frame_types) {
  if (encoders_.empty()) {
    ReportError();
    return WEBRTC_VIDEO_CODEC_UNINITIALIZED;
  }
  if (!encoded_image_callback_) {
    RTC_LOG(LS_WARNING)
        << "InitEncode() has been called, but a callback function "
           "has not been set with RegisterEncodeCompleteCallback()";
    ReportError();
    return WEBRTC_VIDEO_CODEC_UNINITIALIZED;
  }

  rtc::scoped_refptr<const I420BufferInterface> frame_buffer =
      input_frame.video_frame_buffer()->ToI420();

  bool send_key_frame = false;
  for (size_t i = 0; i < configurations_.size(); ++i) {
    if (configurations_[i].key_frame_request && configurations_[i].sending) {
      send_key_frame = true;
      break;
    }
  }

  if (!send_key_frame && frame_types) {
    for (size_t i = 0; i < configurations_.size(); ++i) {
      const size_t simulcast_idx =
          static_cast<size_t>(configurations_[i].simulcast_idx);
      if (configurations_[i].sending && simulcast_idx < frame_types->size() &&
          (*frame_types)[simulcast_idx] == VideoFrameType::kVideoFrameKey) {
        send_key_frame = true;
        break;
      }
    }
  }

  RTC_DCHECK_EQ(configurations_[0].width, frame_buffer->width());
  RTC_DCHECK_EQ(configurations_[0].height, frame_buffer->height());



  // Encode image for each layer.
  for (size_t i = 0; i < encoders_.size(); ++i) {
    // EncodeFrame input.
    // copyFrame(encoders_[i]->frame, frame_buffer);

    pictures_[i] = {0};
    pictures_[i].iPicWidth = configurations_[i].width;
    pictures_[i].iPicHeight = configurations_[i].height;
    pictures_[i].iColorFormat = EVideoFormatType::videoFormatI420;
    pictures_[i].uiTimeStamp = input_frame.ntp_time_ms();
    // Downscale images on second and ongoing layers.
    if (i == 0) {
      pictures_[i].iStride[0] = frame_buffer->StrideY();
      pictures_[i].iStride[1] = frame_buffer->StrideU();
      pictures_[i].iStride[2] = frame_buffer->StrideV();
      pictures_[i].pData[0] = const_cast<uint8_t*>(frame_buffer->DataY());
      pictures_[i].pData[1] = const_cast<uint8_t*>(frame_buffer->DataU());
      pictures_[i].pData[2] = const_cast<uint8_t*>(frame_buffer->DataV());
    } else {
      pictures_[i].iStride[0] = downscaled_buffers_[i - 1]->StrideY();
      pictures_[i].iStride[1] = downscaled_buffers_[i - 1]->StrideU();
      pictures_[i].iStride[2] = downscaled_buffers_[i - 1]->StrideV();
      pictures_[i].pData[0] =
          const_cast<uint8_t*>(downscaled_buffers_[i - 1]->DataY());
      pictures_[i].pData[1] =
          const_cast<uint8_t*>(downscaled_buffers_[i - 1]->DataU());
      pictures_[i].pData[2] =
          const_cast<uint8_t*>(downscaled_buffers_[i - 1]->DataV());
      // Scale the image down a number of times by downsampling factor.
      libyuv::I420Scale(pictures_[i - 1].pData[0], pictures_[i - 1].iStride[0],
                        pictures_[i - 1].pData[1], pictures_[i - 1].iStride[1],
                        pictures_[i - 1].pData[2], pictures_[i - 1].iStride[2],
                        configurations_[i - 1].width,
                        configurations_[i - 1].height, pictures_[i].pData[0],
                        pictures_[i].iStride[0], pictures_[i].pData[1],
                        pictures_[i].iStride[1], pictures_[i].pData[2],
                        pictures_[i].iStride[2], configurations_[i].width,
                        configurations_[i].height, libyuv::kFilterBilinear);
    }

    if (!configurations_[i].sending) {
      continue;
    }
    if (frame_types != nullptr) {
      // Skip frame?
      if ((*frame_types)[i] == VideoFrameType::kEmptyFrame) {
        continue;
      }
    }
    if (send_key_frame) {
      // API doc says ForceIntraFrame(false) does nothing, but calling this
      // function forces a key frame regardless of the |bIDR| argument's value.
      // (If every frame is a key frame we get lag/delays.)
      encoders_[i]->ForceIntraFrame(true);
      configurations_[i].key_frame_request = false;
    }
    // EncodeFrame output.
    SFrameBSInfo info;
    memset(&info, 0, sizeof(SFrameBSInfo));

    // Encode!
    int enc_ret = encoders_[i]->EncodeFrame(&pictures_[i], &info);
    if (enc_ret != 0) {
      RTC_LOG(LS_ERROR)
          << "OpenH264 frame encoding failed, EncodeFrame returned " << enc_ret
          << ".";
      ReportError();
      return WEBRTC_VIDEO_CODEC_ERROR;
    }

    encoded_images_[i]._encodedWidth = configurations_[i].width;
    encoded_images_[i]._encodedHeight = configurations_[i].height;
    encoded_images_[i].SetTimestamp(input_frame.timestamp());
    encoded_images_[i]._frameType = ConvertToVideoFrameType(info.eFrameType);
    encoded_images_[i].SetSpatialIndex(configurations_[i].simulcast_idx);

    // Split encoded image up into fragments. This also updates
    // |encoded_image_|.
    RtpFragmentize(&encoded_images_[i], &info);

    // Encoder can skip frames to save bandwidth in which case
    // |encoded_images_[i]._length| == 0.
    //进行编码帧的输出
    if (encoded_images_[i].size() > 0) {
      // Parse QP.
      h264_bitstream_parser_.ParseBitstream(encoded_images_[i].data(),
                                            encoded_images_[i].size());
      h264_bitstream_parser_.GetLastSliceQp(&encoded_images_[i].qp_);

      // Deliver encoded image.
      CodecSpecificInfo codec_specific;
      codec_specific.codecType = kVideoCodecH264;
      codec_specific.codecSpecific.H264.packetization_mode =
          packetization_mode_;
      codec_specific.codecSpecific.H264.temporal_idx = kNoTemporalIdx;
      codec_specific.codecSpecific.H264.idr_frame =
          info.eFrameType == videoFrameTypeIDR;
      codec_specific.codecSpecific.H264.base_layer_sync = false;
      if (configurations_[i].num_temporal_layers > 1) {
        const uint8_t tid = info.sLayerInfo[0].uiTemporalId;
        codec_specific.codecSpecific.H264.temporal_idx = tid;
        codec_specific.codecSpecific.H264.base_layer_sync =
            tid > 0 && tid < tl0sync_limit_[i];
        if (codec_specific.codecSpecific.H264.base_layer_sync) {
          tl0sync_limit_[i] = tid;
        }
        if (tid == 0) {
          tl0sync_limit_[i] = configurations_[i].num_temporal_layers;
        }
      }
      encoded_image_callback_->OnEncodedImage(encoded_images_[i],
                                              &codec_specific);
    }
  }
  return WEBRTC_VIDEO_CODEC_OK;
}

// // Initialization parameters.
// // There are two ways to initialize. There is SEncParamBase (cleared with
// // memset(&p, 0, sizeof(SEncParamBase)) used in Initialize, and SEncParamExt
// // which is a superset of SEncParamBase (cleared with GetDefaultParams) used
// // in InitializeExt.
// SEncParamExt JetH264Encoder::CreateEncoderParams(size_t i) const {
//   SEncParamExt encoder_params;
//   encoders_[i]->GetDefaultParams(&encoder_params);
//   if (codec_.mode == VideoCodecMode::kRealtimeVideo) {
//     encoder_params.iUsageType = CAMERA_VIDEO_REAL_TIME;
//   } else if (codec_.mode == VideoCodecMode::kScreensharing) {

//     encoder_params.iUsageType = SCREEN_CONTENT_REAL_TIME;
//   } else {
//     printf("other");
//     RTC_NOTREACHED();
//   }
//   encoder_params.iPicWidth = configurations_[i].width;
//   encoder_params.iPicHeight = configurations_[i].height;
//   encoder_params.iTargetBitrate = configurations_[i].target_bps;  //目标码率即开始码率
//   // Keep unspecified. WebRTC's max codec bitrate is not the same setting
//   // as OpenH264's iMaxBitrate. More details in https://crbug.com/webrtc/11543
//   encoder_params.iMaxBitrate = UNSPECIFIED_BIT_RATE;  //最大码率．默认
//   // Rate Control mode
//   encoder_params.iRCMode = RC_BITRATE_MODE;  //速率控制模式
//   encoder_params.fMaxFrameRate = configurations_[i].max_frame_rate;//最大帧率

//   // The following parameters are extension parameters (they're in SEncParamExt,
//   // not in SEncParamBase).
//   encoder_params.bEnableFrameSkip = configurations_[i].frame_dropping_on; //是否开启抽帧
//   // |uiIntraPeriod|    - multiple of GOP size
//   // |keyFrameInterval| - number of frames
//   encoder_params.uiIntraPeriod = configurations_[i].key_frame_interval;//关键帧间隔
//   encoder_params.uiMaxNalSize = 0;
//   // Threading model: use auto.
//   //  0: auto (dynamic imp. internal encoder)
//   //  1: single thread (default value)
//   // >1: number of threads
//   encoder_params.iMultipleThreadIdc = NumberOfThreads(
//       encoder_params.iPicWidth, encoder_params.iPicHeight, number_of_cores_);
//   // The base spatial layer 0 is the only one we use.  空间层配置
//   encoder_params.sSpatialLayers[0].iVideoWidth = encoder_params.iPicWidth;
//   encoder_params.sSpatialLayers[0].iVideoHeight = encoder_params.iPicHeight;
//   encoder_params.sSpatialLayers[0].fFrameRate = encoder_params.fMaxFrameRate;
//   encoder_params.sSpatialLayers[0].iSpatialBitrate =
//       encoder_params.iTargetBitrate;
//   encoder_params.sSpatialLayers[0].iMaxSpatialBitrate =
//       encoder_params.iMaxBitrate;
//   encoder_params.iTemporalLayerNum = configurations_[i].num_temporal_layers;
//   if (encoder_params.iTemporalLayerNum > 1) {
//     encoder_params.iNumRefFrame = 1;
//   }
//   RTC_LOG(INFO) << "OpenH264 version is " << OPENH264_MAJOR << "."
//                 << OPENH264_MINOR;
//   //打包模式
//   switch (packetization_mode_) {
//     case H264PacketizationMode::SingleNalUnit:
//       // Limit the size of the packets produced.
//       encoder_params.sSpatialLayers[0].sSliceArgument.uiSliceNum = 1;
//       encoder_params.sSpatialLayers[0].sSliceArgument.uiSliceMode =
//           SM_SIZELIMITED_SLICE;
//       encoder_params.sSpatialLayers[0].sSliceArgument.uiSliceSizeConstraint =
//           static_cast<unsigned int>(max_payload_size_);
//       RTC_LOG(INFO) << "Encoder is configured with NALU constraint: "
//                     << max_payload_size_ << " bytes";
//       break;
//     case H264PacketizationMode::NonInterleaved:
//       // When uiSliceMode = SM_FIXEDSLCNUM_SLICE, uiSliceNum = 0 means auto
//       // design it with cpu core number.
//       // TODO(sprang): Set to 0 when we understand why the rate controller borks
//       //               when uiSliceNum > 1.
//       encoder_params.sSpatialLayers[0].sSliceArgument.uiSliceNum = 1;
//       encoder_params.sSpatialLayers[0].sSliceArgument.uiSliceMode =
//           SM_FIXEDSLCNUM_SLICE;
//       break;
//   }
//   return encoder_params;
// }

void JetH264Encoder::ReportInit() {
  if (has_reported_init_)
    return;
  RTC_HISTOGRAM_ENUMERATION("WebRTC.Video.H264EncoderImpl.Event",
                            kH264EncoderEventInit, kH264EncoderEventMax);
  has_reported_init_ = true;
}

void JetH264Encoder::ReportError() {
  if (has_reported_error_)
    return;
  RTC_HISTOGRAM_ENUMERATION("WebRTC.Video.H264EncoderImpl.Event",
                            kH264EncoderEventError, kH264EncoderEventMax);
  has_reported_error_ = true;
}

VideoEncoder::EncoderInfo JetH264Encoder::GetEncoderInfo() const {
  EncoderInfo info;
  info.supports_native_handle = false;
  info.implementation_name = "OpenH264";
  info.scaling_settings =
      VideoEncoder::ScalingSettings(kLowH264QpThreshold, kHighH264QpThreshold);
  info.is_hardware_accelerated = false;
  info.has_internal_source = false;
  info.supports_simulcast = true;
  return info;
}

void JetH264Encoder::LayerConfig::SetStreamState(bool send_stream) {
  if (send_stream && !sending) {
    // Need a key frame if we have not sent this stream before.
    key_frame_request = true;
  }
  sending = send_stream;
}

}  // namespace webrtc