encoder: add ability to request keyframes from livestream encoders (#38172)

* add param that requests keyframe

* set keyframe request to false on cleanup

* clean

* timing and errors

* remove other changes

* clean diff

* clean diff

* clean up live adaptation params and functions

* better function names

* fix syntax

* remove unused var

* clean diff

system/loggerd/encoder/encoder.h

@@ -27,6 +27,7 @@ public:
   virtual void encoder_open() = 0;
   virtual void encoder_close() = 0;
   virtual void set_bitrate(int bitrate) = 0;
+  virtual void request_keyframe() = 0;
 
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 

system/loggerd/encoder/ffmpeg_encoder.cc

@@ -76,6 +76,10 @@ void FfmpegEncoder::set_bitrate(int bitrate) {
   LOGE("adaptive bitrate is not supported for ffmpeg encoder %s", encoder_info.publish_name);
 }
 
+void FfmpegEncoder::request_keyframe() {
+  LOGE("keyframe request is not supported for ffmpeg encoder %s", encoder_info.publish_name);
+}
+
 int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   assert(buf->width == this->in_width);
   assert(buf->height == this->in_height);

system/loggerd/encoder/ffmpeg_encoder.h

@@ -22,6 +22,7 @@ public:
   void encoder_open();
   void encoder_close();
   void set_bitrate(int bitrate);
+  void request_keyframe();
 
 private:
   int segment_num = -1;

system/loggerd/encoder/v4l_encoder.cc

@@ -156,7 +156,6 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
 
   EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
   current_bitrate = encoder_settings.bitrate;
-  adaptive_bitrate = encoder_info.adaptive_bitrate;
   bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
 
   struct v4l2_format fmt_out = {
@@ -307,7 +306,7 @@ void V4LEncoder::encoder_close() {
 }
 
 void V4LEncoder::set_bitrate(int bitrate) {
-  if (!adaptive_bitrate || bitrate == current_bitrate) return;
+  if (bitrate == current_bitrate) return;
   if (bitrate <= 0) {
     LOGE("invalid livestream encoder bitrate %d", bitrate);
     return;
@@ -325,6 +324,17 @@ void V4LEncoder::set_bitrate(int bitrate) {
   current_bitrate = bitrate;
 }
 
+void V4LEncoder::request_keyframe() {
+  struct v4l2_control ctrl = {
+    .id = V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME,
+    .value = 1,
+  };
+
+  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
+    LOGE("failed to request keyframe for %s", encoder_info.publish_name);
+  }
+}
+
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;

system/loggerd/encoder/v4l_encoder.h

@@ -14,6 +14,7 @@ public:
   void encoder_open();
   void encoder_close();
   void set_bitrate(int bitrate);
+  void request_keyframe();
 
 private:
   int fd;
@@ -22,7 +23,6 @@ private:
   int segment_num = -1;
   int counter = 0;
   int current_bitrate = -1;
-  bool adaptive_bitrate;
 
   SafeQueue<VisionIpcBufExtra> extras;