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compressed_vipc supports all frame sizes

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This commit is contained in:
Adeeb Shihadeh
2024-02-04 15:29:43 -08:00
parent 3972073fd4
commit 43f151eea9
1 changed files with 16 additions and 4 deletions
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tools/camerastream/compressed_vipc.py
+16 -4
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@@ -10,7 +10,6 @@ import time
import cereal.messaging as messaging
from cereal.visionipc import VisionIpcServer, VisionStreamType
W, H = 1928, 1208
V4L2_BUF_FLAG_KEYFRAME = 8
ENCODE_SOCKETS = {
@@ -19,10 +18,11 @@ ENCODE_SOCKETS = {
VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
}
def decoder(addr, vipc_server, vst, nvidia, debug=False):
def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
sock_name = ENCODE_SOCKETS[vst]
if debug:
print("start decoder for %s" % sock_name)
if nvidia:
os.environ["NV_LOW_LATENCY"] = "3" # both bLowLatency and CUVID_PKT_ENDOFPICTURE
sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
@@ -99,16 +99,28 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):
% (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
class CompressedVipc:
def __init__(self, addr, vision_streams, nvidia=False, debug=False):
print("getting frame sizes")
os.environ["ZMQ"] = "1"
messaging.context = messaging.Context()
sm = messaging.SubMaster([ENCODE_SOCKETS[s] for s in vision_streams], addr=addr)
while min(sm.rcv_frame.values()) == 0:
sm.update(100)
os.environ.pop("ZMQ")
messaging.context = messaging.Context()
self.vipc_server = VisionIpcServer("camerad")
for vst in vision_streams:
self.vipc_server.create_buffers(vst, 4, False, W, H)
ed = sm[ENCODE_SOCKETS[vst]]
self.vipc_server.create_buffers(vst, 4, False, ed.width, ed.height)
self.vipc_server.start_listener()
self.procs = []
for vst in vision_streams:
p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
ed = sm[ENCODE_SOCKETS[vst]]
p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug, ed.width, ed.height))
p.start()
self.procs.append(p)