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loggerd: switch to v4l encoder try 2 (#24380)
* start v4l encoder * v4l encoder starts * start and stop * fill in proper controls * it dequeued a buffer * getting bytes * it made a video * it does make files * getting close * ahh, so that's how dequeue works * qcam works (no remuxing) * remuxing works * we just need to make shutdown and rollover graceful * graceful destruction * switch to polling * should work now * fix pc build * refactors, stop properly * touchups, remove a copy * add v4l encoder to release * inlcude file * move writing to it's own thread * fix minor memory leak * block instead of dropping frames * add counter, fix tests maybe * better debugging and test print * print file path in assert * format string in test * no more oversized qlogs * match qcam * touchups, remove omx encoder * remove omx include files * checked ioctl, better debugging, open by name * unused import * move linux includes to third_party/linux/include * simple encoderd * full packet * encoderd should be complete * lagging print * updates * name dq thread * subset idx * video file writing works * debug * potential bugfix * rotation works * iframe * keep writing support * ci should pass * loggerd, not encoderd * remote encoder code * support remote encoder * cereal to master, add encoderd * header no longer required * put that back there * realtime * lower decoder latency * don't use queue for VisionIpcBufExtra, disable realtime again * assert all written * hmm simpler * only push to to_write if we are writing * assert timestamp is right * use at and remove assert * revert to queue Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
George Hotz
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#include "selfdrive/loggerd/loggerd.h"
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ExitHandler do_exit;
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struct EncoderdState {
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int max_waiting = 0;
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// Sync logic for startup
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std::atomic<int> encoders_ready = 0;
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std::atomic<uint32_t> start_frame_id = 0;
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bool camera_ready[WideRoadCam + 1] = {};
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bool camera_synced[WideRoadCam + 1] = {};
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};
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// Handle initial encoder syncing by waiting for all encoders to reach the same frame id
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bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) {
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if (s->camera_synced[cam_type]) return true;
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if (s->max_waiting > 1 && s->encoders_ready != s->max_waiting) {
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// add a small margin to the start frame id in case one of the encoders already dropped the next frame
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update_max_atomic(s->start_frame_id, frame_id + 2);
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if (std::exchange(s->camera_ready[cam_type], true) == false) {
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++s->encoders_ready;
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LOGD("camera %d encoder ready", cam_type);
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}
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return false;
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} else {
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if (s->max_waiting == 1) update_max_atomic(s->start_frame_id, frame_id);
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bool synced = frame_id >= s->start_frame_id;
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s->camera_synced[cam_type] = synced;
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if (!synced) LOGD("camera %d waiting for frame %d, cur %d", cam_type, (int)s->start_frame_id, frame_id);
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return synced;
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}
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}
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void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
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util::set_thread_name(cam_info.filename);
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std::vector<Encoder *> encoders;
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VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
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int cur_seg = 0;
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while (!do_exit) {
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if (!vipc_client.connect(false)) {
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util::sleep_for(5);
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continue;
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}
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// init encoders
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if (encoders.empty()) {
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VisionBuf buf_info = vipc_client.buffers[0];
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LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
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// main encoder
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encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
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cam_info.fps, cam_info.bitrate, cam_info.is_h265,
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buf_info.width, buf_info.height, false));
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// qcamera encoder
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if (cam_info.has_qcamera) {
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encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
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qcam_info.fps, qcam_info.bitrate, qcam_info.is_h265,
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qcam_info.frame_width, qcam_info.frame_height, false));
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}
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}
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for (int i = 0; i < encoders.size(); ++i) {
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encoders[i]->encoder_open(NULL);
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}
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bool lagging = false;
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while (!do_exit) {
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VisionIpcBufExtra extra;
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VisionBuf* buf = vipc_client.recv(&extra);
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if (buf == nullptr) continue;
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// detect loop around and drop the frames
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if (buf->get_frame_id() != extra.frame_id) {
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if (!lagging) {
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LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id);
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lagging = true;
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}
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continue;
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}
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lagging = false;
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if (cam_info.trigger_rotate) {
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if (!sync_encoders(s, cam_info.type, extra.frame_id)) {
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continue;
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}
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if (do_exit) break;
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}
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// encode a frame
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for (int i = 0; i < encoders.size(); ++i) {
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int out_id = encoders[i]->encode_frame(buf->y, buf->u, buf->v,
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buf->width, buf->height, &extra);
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if (out_id == -1) {
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LOGE("Failed to encode frame. frame_id: %d", extra.frame_id);
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}
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}
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const int frames_per_seg = SEGMENT_LENGTH * MAIN_FPS;
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if (cur_seg >= 0 && extra.frame_id >= ((cur_seg + 1) * frames_per_seg) + s->start_frame_id) {
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for (auto &e : encoders) {
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e->encoder_close();
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e->encoder_open(NULL);
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}
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++cur_seg;
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}
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}
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}
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LOG("encoder destroy");
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for(auto &e : encoders) {
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e->encoder_close();
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delete e;
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}
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}
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void encoderd_thread() {
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EncoderdState s;
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std::vector<std::thread> encoder_threads;
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for (const auto &cam : cameras_logged) {
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if (cam.enable) {
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encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
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if (cam.trigger_rotate) s.max_waiting++;
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}
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}
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for (auto &t : encoder_threads) t.join();
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}
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int main() {
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if (Hardware::TICI()) {
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int ret;
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ret = util::set_realtime_priority(52);
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assert(ret == 0);
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ret = util::set_core_affinity({7});
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assert(ret == 0);
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}
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encoderd_thread();
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return 0;
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}
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