replay: fix visionbuf alignment on device (#26913)

* align visionbuf

* update test case

* cleanup

* fix cpplint warning
old-commit-hash: 3c94d953ab9fcaf8ee2371af3f269ae46d3563c6

tools/replay/SConscript

@@ -22,4 +22,4 @@ replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'
 qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):
-  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs])
+  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs])

tools/replay/camera.cc

@@ -1,7 +1,18 @@
 #include "tools/replay/camera.h"
 #include "tools/replay/util.h"
+#include "msm_media_info.h"
 
 #include <cassert>
+#include <tuple>
+
+std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
+  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
+  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
+  assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height));
+  size_t nv12_buffer_size = 2346 * nv12_width;  // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage
+  return {nv12_width, nv12_height, nv12_buffer_size};
+}
 
 CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
   for (int i = 0; i < MAX_CAMERAS; ++i) {
@@ -25,7 +36,9 @@ void CameraServer::startVipcServer() {
   for (auto &cam : cameras_) {
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
-      vipc_server_->create_buffers(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height);
+      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
+      vipc_server_->create_buffers_with_sizes(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height,
+                                              nv12_buffer_size, nv12_width, nv12_width * nv12_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
       }
@@ -38,7 +51,7 @@ void CameraServer::cameraThread(Camera &cam) {
   auto read_frame = [&](FrameReader *fr, int frame_id) {
     VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type);
     assert(yuv_buf);
-    bool ret = fr->get(frame_id, (uint8_t *)yuv_buf->addr);
+    bool ret = fr->get(frame_id, yuv_buf);
     return ret ? yuv_buf : nullptr;
   };
 

tools/replay/camera.h

@@ -3,6 +3,7 @@
 #include <unistd.h>
 
 #include <memory>
+#include <tuple>
 #include <utility>
 
 #include "cereal/visionipc/visionipc_server.h"
@@ -10,6 +11,8 @@
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 
+std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height);
+
 class CameraServer {
 public:
   CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);

tools/replay/framereader.cc

@@ -5,8 +5,6 @@
 #include <algorithm>
 #include "libyuv.h"
 
-#include "cereal/visionipc/visionbuf.h"
-
 #ifdef __APPLE__
 #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX
 #define HW_PIX_FMT AV_PIX_FMT_VIDEOTOOLBOX
@@ -119,7 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s
 
   width = (decoder_ctx->width + 3) & ~3;
   height = decoder_ctx->height;
-  visionbuf_compute_aligned_width_and_height(width, height, &aligned_width, &aligned_height);
 
   if (has_hw_decoder && !no_hw_decoder) {
     if (!initHardwareDecoder(HW_DEVICE_TYPE)) {
@@ -178,15 +175,15 @@ bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) {
   return true;
 }
 
-bool FrameReader::get(int idx, uint8_t *yuv) {
-  assert(yuv != nullptr);
+bool FrameReader::get(int idx, VisionBuf *buf) {
+  assert(buf != nullptr);
   if (!valid_ || idx < 0 || idx >= packets.size()) {
     return false;
   }
-  return decode(idx, yuv);
+  return decode(idx, buf);
 }
 
-bool FrameReader::decode(int idx, uint8_t *yuv) {
+bool FrameReader::decode(int idx, VisionBuf *buf) {
   int from_idx = idx;
   if (idx != prev_idx + 1 && key_frames_count_ > 1) {
     // seeking to the nearest key frame
@@ -202,7 +199,7 @@ bool FrameReader::decode(int idx, uint8_t *yuv) {
   for (int i = from_idx; i <= idx; ++i) {
     AVFrame *f = decodeFrame(packets[i]);
     if (f && i == idx) {
-      return copyBuffers(f, yuv);
+      return copyBuffers(f, buf);
     }
   }
   return false;
@@ -234,22 +231,20 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) {
   }
 }
 
-bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) {
-  assert(f != nullptr && yuv != nullptr);
-  uint8_t *y = yuv;
-  uint8_t *uv = y + width * height;
+bool FrameReader::copyBuffers(AVFrame *f, VisionBuf *buf) {
+  assert(f != nullptr && buf != nullptr);
   if (hw_pix_fmt == HW_PIX_FMT) {
     for (int i = 0; i < height/2; i++) {
-      memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width);
-      memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width);
-      memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width);
+      memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width);
+      memcpy(buf->y + (i*2 + 1)*buf->stride, f->data[0] + (i*2 + 1)*f->linesize[0], width);
+      memcpy(buf->uv + i*buf->stride, f->data[1] + i*f->linesize[1], width);
     }
   } else {
     libyuv::I420ToNV12(f->data[0], f->linesize[0],
                        f->data[1], f->linesize[1],
                        f->data[2], f->linesize[2],
-                       y, width,
-                       uv, width,
+                       buf->y, buf->stride,
+                       buf->uv, buf->stride,
                        width, height);
   }
   return true;

tools/replay/framereader.h

@@ -4,6 +4,7 @@
 #include <string>
 #include <vector>
 
+#include "cereal/visionipc/visionbuf.h"
 #include "tools/replay/filereader.h"
 
 extern "C" {
@@ -22,19 +23,18 @@ public:
   bool load(const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
             int chunk_size = -1, int retries = 0);
   bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
-  bool get(int idx, uint8_t *yuv);
+  bool get(int idx, VisionBuf *buf);
   int getYUVSize() const { return width * height * 3 / 2; }
   size_t getFrameCount() const { return packets.size(); }
   bool valid() const { return valid_; }
 
   int width = 0, height = 0;
-  int aligned_width = 0, aligned_height = 0;
 
 private:
   bool initHardwareDecoder(AVHWDeviceType hw_device_type);
-  bool decode(int idx, uint8_t *yuv);
+  bool decode(int idx, VisionBuf *buf);
   AVFrame * decodeFrame(AVPacket *pkt);
-  bool copyBuffers(AVFrame *f, uint8_t *yuv);
+  bool copyBuffers(AVFrame *f, VisionBuf *buf);
 
   std::vector<AVPacket*> packets;
   std::unique_ptr<AVFrame, AVFrameDeleter>av_frame_, hw_frame;

tools/replay/tests/test_replay.cc

@@ -95,10 +95,13 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
       if (cam == RoadCam || cam == WideRoadCam) {
         REQUIRE(fr->getFrameCount() == 1200);
       }
-      std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(fr->getYUVSize());
+      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(fr->width, fr->height);
+      VisionBuf buf;
+      buf.allocate(nv12_buffer_size);
+      buf.init_yuv(fr->width, fr->height, nv12_width, nv12_width * nv12_height);
       // sequence get 100 frames
       for (int i = 0; i < 100; ++i) {
-        REQUIRE(fr->get(i, yuv_buf.get()));
+        REQUIRE(fr->get(i, &buf));
       }
     }