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loggerd: add qcam broadcast support, don't recreate pubmaster (#24226)

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* add qcam broadcast support, don't recreate pubmaster

* fixed

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 35e776d2fd50f62af46ccfc598066fa75ef821e1
This commit is contained in:
George Hotz
2022-04-16 14:42:36 -07:00
committed by GitHub
parent 053ff14d85
commit 751615c99c
3 changed files with 15 additions and 22 deletions
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cereal
+1 -1
Submodule cereal updated: 932c44c6bd...3d70d85580
selfdrive/loggerd/omx_encoder.cc
+11 -20
View File
@@ -326,6 +326,11 @@ OmxEncoder::OmxEncoder(const char* filename, CameraType type, int width, int hei
}
LOGE("omx initialized - in: %d - out %d", this->in_buf_headers.size(), this->out_buf_headers.size());
service_name = this->type == DriverCam ? "driverEncodeData" :
(this->type == WideRoadCam ? "wideRoadEncodeData" :
(this->remuxing ? "qRoadEncodeData" : "roadEncodeData"));
pm = new PubMaster({service_name});
}
void OmxEncoder::callback_handler(OmxEncoder *e) {
@@ -366,20 +371,21 @@ void OmxEncoder::callback_handler(OmxEncoder *e) {
void OmxEncoder::write_and_broadcast_handler(OmxEncoder *e){
bool exit = false;
const char *service_name = e->type == DriverCam ? "driverEncodeData" : (e->type == WideRoadCam ? "wideRoadEncodeData" : "roadEncodeData");
PubMaster pm({service_name});
e->segment_num++;
uint32_t idx = 0;
while (!exit) {
OmxBuffer *out_buf = e->to_write.pop();
MessageBuilder msg;
auto edata = (e->type == DriverCam) ? msg.initEvent(true).initDriverEncodeData() :
((e->type == WideRoadCam) ? msg.initEvent(true).initWideRoadEncodeData() : msg.initEvent(true).initRoadEncodeData());
((e->type == WideRoadCam) ? msg.initEvent(true).initWideRoadEncodeData() :
(e->remuxing ? msg.initEvent(true).initQRoadEncodeData() : msg.initEvent(true).initRoadEncodeData()));
edata.setData(kj::heapArray<capnp::byte>(out_buf->data, out_buf->header.nFilledLen));
edata.setTimestampEof(out_buf->header.nTimeStamp);
edata.setIdx(idx++);
pm.send(service_name, msg);
edata.setSegmentNum(e->segment_num);
e->pm->send(e->service_name, msg);
OmxEncoder::handle_out_buf(e, out_buf);
if (out_buf->header.nFlags & OMX_BUFFERFLAG_EOS) {
@@ -391,21 +397,6 @@ void OmxEncoder::write_and_broadcast_handler(OmxEncoder *e){
}
void OmxEncoder::write_handler(OmxEncoder *e){
bool exit = false;
while (!exit) {
OmxBuffer *out_buf = e->to_write.pop();
OmxEncoder::handle_out_buf(e, out_buf);
if (out_buf->header.nFlags & OMX_BUFFERFLAG_EOS) {
exit = true;
}
free(out_buf);
}
}
void OmxEncoder::handle_out_buf(OmxEncoder *e, OmxBuffer *out_buf) {
int err;
@@ -589,7 +580,7 @@ void OmxEncoder::encoder_open(const char* path) {
// start writer threads
callback_handler_thread = std::thread(OmxEncoder::callback_handler, this);
write_handler_thread = std::thread(this->remuxing ? OmxEncoder::write_handler : OmxEncoder::write_and_broadcast_handler, this);
write_handler_thread = std::thread(OmxEncoder::write_and_broadcast_handler, this);
this->is_open = true;
this->counter = 0;
selfdrive/loggerd/omx_encoder.h
+3 -1
View File
@@ -40,7 +40,6 @@ public:
private:
void wait_for_state(OMX_STATETYPE state);
static void callback_handler(OmxEncoder *e);
static void write_handler(OmxEncoder *e);
static void write_and_broadcast_handler(OmxEncoder *e);
static void handle_out_buf(OmxEncoder *e, OmxBuffer *out_buf);
@@ -53,6 +52,9 @@ private:
int counter = 0;
std::thread callback_handler_thread;
std::thread write_handler_thread;
int segment_num = -1;
PubMaster *pm;
const char *service_name;
const char* filename;
FILE *of = nullptr;