text: #pragma once
  
  #include "common/queue.h"
  #include "selfdrive/loggerd/encoder/encoder.h"
  
  #define BUF_IN_COUNT 7
  #define BUF_OUT_COUNT 6
  
  class V4LEncoder : public VideoEncoder {
  public:
    V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
               int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) :
               VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); }
    ~V4LEncoder();
    void encoder_init();
    int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
    void encoder_open(const char* path);
    void encoder_close();
  private:
    int fd;
  
    bool is_open = false;
    int segment_num = -1;
    int counter = 0;
  
    SafeQueue<VisionIpcBufExtra> extras;
  
    static void dequeue_handler(V4LEncoder *e);
    std::thread dequeue_handler_thread;
  
    VisionBuf buf_in[BUF_IN_COUNT];
    VisionBuf buf_out[BUF_OUT_COUNT];
    SafeQueue<unsigned int> free_buf_in;
  };
  