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encoderd: support remote encoder behind env var (#24490)

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* remote encoder

* remote encoder on PC, fix type

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
George Hotz
2022-05-10 16:53:47 -07:00
committed by GitHub
parent 2008db47c2
commit bd0cc655fb
2 changed files with 22 additions and 20 deletions
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10
selfdrive/loggerd/loggerd.cc
View File

@@ -1,6 +1,6 @@
#include "selfdrive/loggerd/loggerd.h"
#include "selfdrive/loggerd/remote_encoder.h"
bool USE_REMOTE_ENCODER = false;
bool env_remote_encoder = getenv("REMOTE_ENCODER") != NULL;
ExitHandler do_exit;
@@ -202,7 +202,7 @@ void loggerd_thread() {
// subscribe to all socks
for (const auto& it : services) {
const bool encoder = USE_REMOTE_ENCODER & (strcmp(it.name+strlen(it.name)-strlen("EncodeData"), "EncodeData") == 0);
const bool encoder = env_remote_encoder && (strcmp(it.name+strlen(it.name)-strlen("EncodeData"), "EncodeData") == 0);
if (!it.should_log && !encoder) continue;
LOGD("logging %s (on port %d)", it.name, it.port);
@@ -228,7 +228,11 @@ void loggerd_thread() {
std::vector<std::thread> encoder_threads;
for (const auto &cam : cameras_logged) {
if (cam.enable) {
encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
if (env_remote_encoder) {
if (cam.has_qcamera) { s.max_waiting++; }
} else {
encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
}
if (cam.trigger_rotate) s.max_waiting++;
}
}

32
selfdrive/loggerd/remote_encoder.cc
View File

@@ -7,20 +7,8 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0]));
if (!cam_info.record) return 0; // TODO: handle this by not subscribing
int bytes_count = 0;
// TODO: AlignedBuffer is making a copy and allocing
//AlignedBuffer aligned_buf;
//capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg->getData(), msg->getSize()));
capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize()));
auto event = cmsg.getRoot<cereal::Event>();
auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData()));
auto idx = edata.getIdx();
auto flags = idx.getFlags();
// rotation happened, process the queue (happens before the current message)
int bytes_count = 0;
if (re.logger_segment != s->rotate_segment) {
re.logger_segment = s->rotate_segment;
for (auto &qmsg: re.q) {
@@ -29,6 +17,15 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
re.q.clear();
}
// extract the message
capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize()));
auto event = cmsg.getRoot<cereal::Event>();
auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData()));
auto idx = edata.getIdx();
auto flags = idx.getFlags();
if (!re.writer) {
// only create on iframe
if (flags & V4L2_BUF_FLAG_KEYFRAME) {
@@ -38,9 +35,8 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
re.dropped_frames = 0;
}
re.writer.reset(new VideoWriter(s->segment_path,
cam_info.filename, !cam_info.is_h265,
cam_info.frame_width, cam_info.frame_height,
cam_info.fps, cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264));
cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
cam_info.frame_width, cam_info.frame_height, cam_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);
@@ -74,8 +70,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); }
auto new_msg = bmsg.toBytes();
logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
delete msg;
bytes_count += new_msg.size();
// this frees the message
delete msg;
}
return bytes_count;