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openpilot v0.9.5 release

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date: 2023-11-17T23:53:40
master commit: d3aad9ca46
This commit is contained in:
Vehicle Researcher
2023-11-17 23:53:40 +00:00
parent eff388b1b6
commit b2f2dabe71
861 changed files with 33808 additions and 28421 deletions
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33
system/loggerd/encoder/v4l_encoder.cc
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@@ -1,4 +1,5 @@
#include <cassert>
#include <string>
#include <sys/ioctl.h>
#include <poll.h>
@@ -6,11 +7,11 @@
#include "common/util.h"
#include "common/timing.h"
#include "libyuv.h"
#include "msm_media_info.h"
#include "third_party/libyuv/include/libyuv.h"
#include "third_party/linux/include/msm_media_info.h"
// has to be in this order
#include "v4l2-controls.h"
#include "third_party/linux/include/v4l2-controls.h"
#include <linux/videodev2.h>
#define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
#define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
@@ -18,7 +19,13 @@
// echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
#define checked_ioctl(x,y,z) { int _ret = HANDLE_EINTR(ioctl(x,y,z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); }
static void checked_ioctl(int fd, unsigned long request, void *argp) {
int ret = util::safe_ioctl(fd, request, argp);
if (ret != 0) {
LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp);
assert(0);
}
}
static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) {
v4l2_plane plane = {0};
@@ -68,7 +75,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
}
void V4LEncoder::dequeue_handler(V4LEncoder *e) {
std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename);
std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name);
util::set_thread_name(dequeue_thread_name.c_str());
e->segment_num++;
@@ -85,10 +92,20 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
while (!exit) {
int rc = poll(&pfd, 1, 1000);
if (!rc) { LOGE("encoder dequeue poll timeout"); continue; }
if (rc < 0) {
if (errno != EINTR) {
// TODO: exit encoder?
// ignore the error and keep going
LOGE("poll failed (%d - %d)", rc, errno);
}
continue;
} else if (rc == 0) {
LOGE("encoder dequeue poll timeout");
continue;
}
if (env_debug_encoder >= 2) {
printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot());
printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot());
}
int frame_id = -1;
@@ -116,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
if (env_debug_encoder) {
printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n",
e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
}
// requeue the buffer