Reapply "Merge remote-tracking branch 'origin/master' into SunnyPilot"

This reverts commit 42b6ecb535.

system/loggerd/encoder/encoder.cc

@@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
   edata.setFrameId(extra.frame_id);
   edata.setTimestampSof(extra.timestamp_sof);
   edata.setTimestampEof(extra.timestamp_eof);
-  edata.setType(encoder_info.encode_type);
+  edata.setType(encoder_info.get_settings(in_width).encode_type);
   edata.setEncodeId(cnt++);
   edata.setSegmentNum(segment_num);
   edata.setSegmentId(idx);

system/loggerd/encoder/ffmpeg_encoder.cc

@@ -1,5 +1,3 @@
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
 #include "system/loggerd/encoder/ffmpeg_encoder.h"
 
 #include <fcntl.h>
@@ -48,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() {
 }
 
 void FfmpegEncoder::encoder_open() {
-  auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
+  auto codec_id = encoder_info.get_settings(in_width).encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
                       ? AV_CODEC_ID_H264
                       : AV_CODEC_ID_FFVHUFF;
   const AVCodec *codec = avcodec_find_encoder(codec_id);
@@ -119,8 +117,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
     ret = -1;
   }
 
-  AVPacket pkt;
-  av_init_packet(&pkt);
+  AVPacket pkt = {};
   pkt.data = NULL;
   pkt.size = 0;
   while (ret >= 0) {

system/loggerd/encoder/v4l_encoder.cc

@@ -24,14 +24,6 @@
 */
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
-static void checked_ioctl(int fd, unsigned long request, void *argp) {
-  int ret = util::safe_ioctl(fd, request, argp);
-  if (ret != 0) {
-    LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp);
-    assert(0);
-  }
-}
-
 static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) {
   v4l2_plane plane = {0};
   v4l2_buffer v4l_buf = {
@@ -40,7 +32,7 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
     .m = { .planes = &plane, },
     .length = 1,
   };
-  checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf);
+  util::safe_ioctl(fd, VIDIOC_DQBUF, &v4l_buf, "VIDIOC_DQBUF failed");
 
   if (index) *index = v4l_buf.index;
   if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused;
@@ -66,8 +58,7 @@ static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, Vis
     .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
     .timestamp = timestamp
   };
-
-  checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf);
+  util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed");
 }
 
 static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
@@ -76,7 +67,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
     .memory = V4L2_MEMORY_USERPTR,
     .count = count
   };
-  checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf);
+  util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
 }
 
 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
@@ -159,11 +150,14 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(fd >= 0);
 
   struct v4l2_capability cap;
-  checked_ioctl(fd, VIDIOC_QUERYCAP, &cap);
+  util::safe_ioctl(fd, VIDIOC_QUERYCAP, &cap, "VIDIOC_QUERYCAP failed");
   LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd);
   assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
+  EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
+  bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
+
   struct v4l2_format fmt_out = {
     .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE,
     .fmt = {
@@ -171,13 +165,13 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
         // downscales are free with v4l
         .width = (unsigned int)(out_width),
         .height = (unsigned int)(out_height),
-        .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
+        .pixelformat = is_h265 ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,
       }
     }
   };
-  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out);
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_out, "VIDIOC_S_FMT failed");
 
   v4l2_streamparm streamparm = {
     .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@@ -191,7 +185,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       }
     }
   };
-  checked_ioctl(fd, VIDIOC_S_PARM, &streamparm);
+  util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparm, "VIDIOC_S_PARM failed");
 
   struct v4l2_format fmt_in = {
     .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@@ -205,7 +199,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       }
     }
   };
-  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in);
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_in, "VIDIOC_S_FMT failed");
 
   LOGD("in buffer size %d, out buffer size %d",
     fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage,
@@ -214,34 +208,32 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   // shared ctrls
   {
     struct v4l2_control ctrls[] = {
+      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_settings.bitrate},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_settings.gop_size - encoder_settings.b_frames - 1},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_settings.b_frames},
       { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE},
-      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
     };
     for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   }
 
-  if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+  if (is_h265) {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
     };
     for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   } else {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 14},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0},
@@ -250,7 +242,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
     };
     for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   }
 
@@ -260,9 +252,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
 
   // start encoder
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
   buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
 
   // queue up output buffers
   for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) {
@@ -305,7 +297,7 @@ void V4LEncoder::encoder_close() {
     for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i);
     // no frames, stop the encoder
     struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP };
-    checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd);
+    util::safe_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd, "VIDIOC_ENCODER_CMD failed");
     // join waits for V4L2_QCOM_BUF_FLAG_EOS
     dequeue_handler_thread.join();
     assert(extras.empty());
@@ -316,10 +308,10 @@ void V4LEncoder::encoder_close() {
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
   request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0);
   buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
   request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0);
   close(fd);