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tici front/wide encodeIdx msgs (#2564)

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* different msgs

* also add timestamps

* keep impatient log, remove the other

* meaningless
old-commit-hash: f244b7c7e1
This commit is contained in:
ZwX1616
2020-11-19 16:12:02 -08:00
committed by GitHub
parent a20839abff
commit deab0f86aa
5 changed files with 10 additions and 13 deletions
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1
selfdrive/camerad/cameras/camera_common.cc
View File

@@ -213,7 +213,6 @@ void CameraBuf::stop() {
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt) {
framed.setFrameId(frame_data.frame_id);
framed.setEncodeId(cnt);
framed.setTimestampEof(frame_data.timestamp_eof);
framed.setFrameLength(frame_data.frame_length);
framed.setIntegLines(frame_data.integ_lines);

1
selfdrive/camerad/cameras/camera_common.h
View File

@@ -63,6 +63,7 @@ typedef struct LogCameraInfo {
typedef struct FrameMetadata {
uint32_t frame_id;
uint64_t timestamp_sof; // only set on tici
uint64_t timestamp_eof;
unsigned int frame_length;
unsigned int integ_lines;

1
selfdrive/camerad/main.cc
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@@ -205,6 +205,7 @@ void* visionserver_client_thread(void* arg) {
stream_i == VISION_STREAM_YUV_WIDE) {
CameraBuf *b = get_camerabuf_by_type(s, (VisionStreamType)stream_i);
rep.d.stream_acq.extra.frame_id = b->yuv_metas[idx].frame_id;
rep.d.stream_acq.extra.timestamp_sof = b->yuv_metas[idx].timestamp_sof;
rep.d.stream_acq.extra.timestamp_eof = b->yuv_metas[idx].timestamp_eof;
}
vipc_send(fd, &rep);

1
selfdrive/common/visionipc.h
View File

@@ -57,6 +57,7 @@ typedef struct VisionStreamBufs {
typedef struct VIPCBufExtra {
// only for yuv
uint32_t frame_id;
uint64_t timestamp_sof;
uint64_t timestamp_eof;
} VIPCBufExtra;

19
selfdrive/loggerd/loggerd.cc
View File

@@ -67,7 +67,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.stream_type = VISION_STREAM_YUV,
.filename = "fcamera.hevc",
.frame_packet_name = "frame",
.encode_idx_name = "encodeIdx",
.fps = MAIN_FPS,
.bitrate = MAIN_BITRATE,
.is_h265 = true,
@@ -78,7 +77,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.stream_type = VISION_STREAM_YUV_FRONT,
.filename = "dcamera.hevc",
.frame_packet_name = "frontFrame",
.encode_idx_name = "frontEncodeIdx",
.fps = MAIN_FPS, // on EONs, more compressed this way
.bitrate = DCAM_BITRATE,
.is_h265 = true,
@@ -89,7 +87,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.stream_type = VISION_STREAM_YUV_WIDE,
.filename = "ecamera.hevc",
.frame_packet_name = "wideFrame",
.encode_idx_name = "wideEncodeIdx",
.fps = MAIN_FPS,
.bitrate = MAIN_BITRATE,
.is_h265 = true,
@@ -235,9 +232,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
s.num_encoder += 1;
pthread_mutex_unlock(&s.rotate_lock);
PubSocket *idx_sock = PubSocket::create(s.ctx, cameras_logged[cam_idx].encode_idx_name);
assert(idx_sock != NULL);
LoggerHandle *lh = NULL;
while (!do_exit) {
@@ -377,8 +371,12 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
// publish encode index
MessageBuilder msg;
auto eidx = msg.initEvent().initEncodeIdx();
// this is really ugly
auto eidx = cam_idx == LOG_CAMERA_ID_DCAMERA ? msg.initEvent().initFrontEncodeIdx() :
(cam_idx == LOG_CAMERA_ID_ECAMERA ? msg.initEvent().initWideEncodeIdx() : msg.initEvent().initEncodeIdx());
eidx.setFrameId(extra.frame_id);
eidx.setTimestampSof(extra.timestamp_sof);
eidx.setTimestampEof(extra.timestamp_eof);
#ifdef QCOM2
eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
#else
@@ -390,9 +388,8 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
eidx.setSegmentId(out_id);
auto bytes = msg.toBytes();
if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
printf("err sending encodeIdx pkt: %s\n", strerror(errno));
if (lh) {
lh_log(lh, bytes.begin(), bytes.size(), false);
}
}
@@ -450,8 +447,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
visionstream_destroy(&stream);
}
delete idx_sock;
if (encoder_inited) {
LOG("encoder destroy");
encoder_close(&encoder);