move c++ framereader to selfdrive/ui/replay (#21053)

old-commit-hash: bb5bcc7e49b8a1ae04e951ffc03848432edd8859

tools/clib/.gitignore

@@ -1 +0,0 @@
-cframereader.cpp

tools/clib/SConscript

@@ -1,8 +0,0 @@
-Import('env')
-from sysconfig import get_paths
-env['CPPPATH'] += [get_paths()['include']]
-
-from Cython.Build import cythonize
-cythonize("cframereader.pyx")
-env.SharedLibrary(File('cframereader.so'), ['cframereader.cpp', 'framereader.cc'], LIBS=['avformat', 'avcodec', 'avutil', 'swscale'])
-

tools/clib/cframereader.pyx

@@ -1,20 +0,0 @@
-# distutils: language = c++
-# cython: language_level=3
-
-cdef extern from "framereader.h":
-  cdef cppclass CFrameReader "FrameReader":
-    CFrameReader(const char *)
-    char *get(int)
-
-cdef class FrameReader():
-  cdef CFrameReader *fr
-
-  def __cinit__(self, fn):
-    self.fr = new CFrameReader(fn)
-
-  def __dealloc__(self):
-    del self.fr
-
-  def get(self, idx):
-    self.fr.get(idx)
-

tools/clib/framereader.cc

@@ -1,141 +0,0 @@
-#include "tools/clib/framereader.h"
-
-#include <assert.h>
-#include <unistd.h>
-
-static int ffmpeg_lockmgr_cb(void **arg, enum AVLockOp op) {
-  std::mutex *mutex = (std::mutex *)*arg;
-  switch (op) {
-  case AV_LOCK_CREATE:
-    mutex = new std::mutex();
-    break;
-  case AV_LOCK_OBTAIN:
-    mutex->lock();
-    break;
-  case AV_LOCK_RELEASE:
-    mutex->unlock();
-  case AV_LOCK_DESTROY:
-    delete mutex;
-    break;
-  }
-  return 0;
-}
-
-FrameReader::FrameReader(const std::string &fn) : url(fn) {
-  int ret = av_lockmgr_register(ffmpeg_lockmgr_cb);
-  assert(ret >= 0);
-
-  avformat_network_init();
-  av_register_all();
-}
-
-FrameReader::~FrameReader() {
-  exit_ = true;
-  thread.join();
-  for (auto &f : frames) {
-    delete f->pkt;
-    if (f->picture) {
-      av_frame_free(&f->picture);
-    }
-    delete f;
-  }
-  avcodec_free_context(&pCodecCtx);
-  avformat_free_context(pFormatCtx);
-  sws_freeContext(sws_ctx);
-  avformat_network_deinit();
-}
-
-void FrameReader::process() {
-  if (avformat_open_input(&pFormatCtx, url.c_str(), NULL, NULL) != 0) {
-    fprintf(stderr, "error loading %s\n", url.c_str());
-    valid = false;
-    return;
-  }
-  avformat_find_stream_info(pFormatCtx, NULL);
-  av_dump_format(pFormatCtx, 0, url.c_str(), 0);
-
-  auto pCodecCtxOrig = pFormatCtx->streams[0]->codec;
-  auto pCodec = avcodec_find_decoder(pCodecCtxOrig->codec_id);
-  assert(pCodec != NULL);
-
-  pCodecCtx = avcodec_alloc_context3(pCodec);
-  int ret = avcodec_copy_context(pCodecCtx, pCodecCtxOrig);
-  assert(ret == 0);
-
-  ret = avcodec_open2(pCodecCtx, pCodec, NULL);
-  assert(ret >= 0);
-
-  width = pCodecCtxOrig->width;
-  height = pCodecCtxOrig->height;
-
-  sws_ctx = sws_getContext(width, height, AV_PIX_FMT_YUV420P,
-                           width, height, AV_PIX_FMT_BGR24,
-                           SWS_BILINEAR, NULL, NULL, NULL);
-  assert(sws_ctx != NULL);
-
-  do {
-    AVPacket *pkt = new AVPacket;
-    if (av_read_frame(pFormatCtx, pkt) < 0) {
-      delete pkt;
-      break;
-    }
-    Frame *frame = new Frame{.pkt = pkt};
-    frames.push_back(frame);
-  } while (true);
-
-  printf("framereader download done\n");
-
-  thread = std::thread(&FrameReader::decodeThread, this);
-}
-
-void FrameReader::decodeThread() {
-  while (!exit_) {
-    int gop = 0;
-    {
-      std::unique_lock lk(mutex);
-      cv_decode.wait(lk, [=] { return exit_ || decode_idx != -1; });
-      if (exit_) break;
-
-      gop = std::max(decode_idx - decode_idx % 15, 0);
-      decode_idx = -1;
-    }
-
-    for (int i = gop; i < std::min(gop + 15, (int)frames.size()); ++i) {
-      if (frames[i]->picture != nullptr) continue;
-
-      int frameFinished;
-      AVFrame *pFrame = av_frame_alloc();
-      avcodec_decode_video2(pCodecCtx, pFrame, &frameFinished, frames[i]->pkt);
-      AVFrame *picture = toRGB(pFrame);
-      av_frame_free(&pFrame);
-
-      std::unique_lock lk(mutex);
-      frames[i]->picture = picture;
-      cv_frame.notify_all();
-    }
-  }
-}
-
-AVFrame *FrameReader::toRGB(AVFrame *pFrame) {
-  AVFrame *pFrameRGB = av_frame_alloc();
-  int numBytes = avpicture_get_size(AV_PIX_FMT_BGR24, pFrame->width, pFrame->height);
-  uint8_t *buffer = (uint8_t *)av_malloc(numBytes * sizeof(uint8_t));
-  avpicture_fill((AVPicture *)pFrameRGB, buffer, AV_PIX_FMT_BGR24, pFrame->width, pFrame->height);
-  sws_scale(sws_ctx, (uint8_t const *const *)pFrame->data,
-            pFrame->linesize, 0, pFrame->height,
-            pFrameRGB->data, pFrameRGB->linesize);
-  return pFrameRGB;
-}
-
-uint8_t *FrameReader::get(int idx) {
-  if (!valid || idx < 0 || idx >= frames.size()) return nullptr;
-
-  std::unique_lock lk(mutex);
-  decode_idx = idx;
-  cv_decode.notify_one();
-  Frame *frame = frames[idx];
-  if (!frame->picture) {
-    cv_frame.wait(lk, [=] { return exit_ || frame->picture != nullptr; });
-  }
-  return frame->picture ? frame->picture->data[0] : nullptr;
-}

tools/clib/framereader.h

@@ -1,53 +0,0 @@
-#pragma once
-
-#include <unistd.h>
-
-#include <atomic>
-#include <condition_variable>
-#include <mutex>
-#include <string>
-#include <thread>
-#include <vector>
-
-// independent of QT, needs ffmpeg
-extern "C" {
-#include <libavcodec/avcodec.h>
-#include <libavformat/avformat.h>
-#include <libswscale/swscale.h>
-}
-
-
-class FrameReader {
-public:
-  FrameReader(const std::string &fn);
-  ~FrameReader();
-  uint8_t *get(int idx);
-  AVFrame *toRGB(AVFrame *);
-  int getRGBSize() { return width*height*3; }
-  void process();
-
-  int width = 0, height = 0;
-
-private:
-  void decodeThread();
-
-  struct Frame{
-    AVPacket *pkt;
-    AVFrame *picture;
-  };
-  std::vector<Frame*> frames;
-
-  AVFormatContext *pFormatCtx = NULL;
-  AVCodecContext *pCodecCtx = NULL;
-	struct SwsContext *sws_ctx = NULL;
-
-  std::mutex mutex;
-  std::condition_variable cv_decode;
-  std::condition_variable cv_frame;
-  int decode_idx = -1;
-  std::atomic<bool> exit_ = false;
-  std::thread thread;
-
-  bool valid = true;
-  std::string url;
-};