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openpilot v0.9.3 release

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date: 2023-06-16T05:25:00
master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
This commit is contained in:
Vehicle Researcher
2023-06-16 05:25:01 +00:00
parent cfd8323ccb
commit c39abc00af
188 changed files with 4182 additions and 2011 deletions
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system/loggerd/encoderd.cc
+9 -14
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@@ -35,7 +35,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) {
void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
util::set_thread_name(cam_info.filename);
util::set_thread_name(cam_info.thread_name);
std::vector<Encoder *> encoders;
VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
@@ -50,20 +50,15 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
// init encoders
if (encoders.empty()) {
VisionBuf buf_info = vipc_client.buffers[0];
LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height);
LOGW("encoder %s init %dx%d", cam_info.thread_name, buf_info.width, buf_info.height);
if (buf_info.width > 0 && buf_info.height > 0) {
// main encoder
encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
cam_info.fps, cam_info.bitrate,
cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
buf_info.width, buf_info.height, false));
// qcamera encoder
if (cam_info.has_qcamera) {
encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
qcam_info.fps, qcam_info.bitrate,
qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
qcam_info.frame_width, qcam_info.frame_height, false));
for (const auto &encoder_info: cam_info.encoder_infos){
encoders.push_back(new Encoder(encoder_info.filename, cam_info.type, buf_info.width, buf_info.height,
encoder_info.fps, encoder_info.bitrate,
encoder_info.encode_type,
encoder_info.frame_width, encoder_info.frame_height,
encoder_info.publish_name));
}
} else {
LOGE("not initting empty encoder");
@@ -85,7 +80,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
// detect loop around and drop the frames
if (buf->get_frame_id() != extra.frame_id) {
if (!lagging) {
LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id);
LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id);
lagging = true;
}
continue;