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loggerd: eliminate recursion from handle_encoder_msg (#33453)

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* refactor handle_encoder_msg

* removing the recursion only

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Dean Lee
2025-03-03 12:01:21 +08:00
committed by GitHub
parent 2431bc6262
commit c52112ad4e
1 changed files with 57 additions and 52 deletions
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system/loggerd/loggerd.cc
+57 -52
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@@ -64,6 +64,58 @@ struct RemoteEncoder {
bool seen_first_packet = false;
};
size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx();
auto flags = idx.getFlags();
// if we aren't recording yet, try to start, since we are in the correct segment
if (!re.recording) {
if (flags & V4L2_BUF_FLAG_KEYFRAME) {
// only create on iframe
if (re.dropped_frames) {
// this should only happen for the first segment, maybe
LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
re.dropped_frames = 0;
}
// if we aren't actually recording, don't create the writer
if (encoder_info.record) {
assert(encoder_info.filename != NULL);
re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
}
re.recording = true;
} else {
// this is a sad case when we aren't recording, but don't have an iframe
// nothing we can do but drop the frame
++re.dropped_frames;
return 0;
}
}
// we have to be recording if we are here
assert(re.recording);
// if we are actually writing the video file, do so
if (re.writer) {
auto data = edata.getData();
re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof() / 1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
}
// put it in log stream as the idx packet
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
(evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes();
s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
return new_msg.size();
}
int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
int bytes_count = 0;
@@ -72,7 +124,6 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
auto event = cmsg.getRoot<cereal::Event>();
auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx();
auto flags = idx.getFlags();
// encoderd can have started long before loggerd
if (!re.seen_first_packet) {
@@ -95,61 +146,15 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
re.marked_ready_to_rotate = false;
// we are in this segment now, process any queued messages before this one
if (!re.q.empty()) {
for (auto &qmsg : re.q) {
bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
for (auto qmsg : re.q) {
capnp::FlatArrayMessageReader reader({(capnp::word *)qmsg->getData(), qmsg->getSize() / sizeof(capnp::word)});
bytes_count += write_encode_data(s, reader.getRoot<cereal::Event>(), re, encoder_info);
delete qmsg;
}
re.q.clear();
}
}
// if we aren't recording yet, try to start, since we are in the correct segment
if (!re.recording) {
if (flags & V4L2_BUF_FLAG_KEYFRAME) {
// only create on iframe
if (re.dropped_frames) {
// this should only happen for the first segment, maybe
LOGW("%s: dropped %d non iframe packets before init", name.c_str(), re.dropped_frames);
re.dropped_frames = 0;
}
// if we aren't actually recording, don't create the writer
if (encoder_info.record) {
assert(encoder_info.filename != NULL);
re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
}
re.recording = true;
} else {
// this is a sad case when we aren't recording, but don't have an iframe
// nothing we can do but drop the frame
delete msg;
++re.dropped_frames;
return bytes_count;
}
}
// we have to be recording if we are here
assert(re.recording);
// if we are actually writing the video file, do so
if (re.writer) {
auto data = edata.getData();
re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
}
// put it in log stream as the idx packet
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
(evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes();
s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
bytes_count += new_msg.size();
// free the message, we used it
bytes_count += write_encode_data(s, event, re, encoder_info);
delete msg;
} else if (offset_segment_num > s->logger.segment()) {
// encoderd packet has a newer segment, this means encoderd has rolled over