Refactor loggerd rotations (#2247)
* loggerd:refactor rotate encoder * change notify_all to notify_one * finish * cancelWait * start front_encoder_thread on need * rebase master to resolve conflict * tici qcam works, but * ifs are ugly * synced rotate off frame ids * only start counting frames after modeld alive * typo * fix some bugs * never over rotate * works * missing space * zero frame count tolerance * lol * add back omx race protection * not need that * not to confuse different locks * playing with locks is playing with fire * tici now has qcam * size is overrated * make cppcheck happy * fall back if no camera * warn * missing condition * first is freestyle * no stream id before connecting * wait for increment * first will be imperfect * wait is futile * block frames when writing state * just log write time * exit loops when exit * tici qcamera * fixed * add atomics * incl Co-authored-by: deanlee <deanlee3@gmail.com> Co-authored-by: Comma Device <device@comma.ai>pull/2260/head
parent
059cf6b43e
commit
2b974150c4
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@ -4,6 +4,8 @@
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#include <stdint.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdbool.h>
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#include "common/visionipc.h"
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#define CAMERA_ID_IMX298 0
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#define CAMERA_ID_IMX298 0
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#define CAMERA_ID_IMX179 1
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#define CAMERA_ID_IMX179 1
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#define CAMERA_ID_S5K3P8SP 2
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#define CAMERA_ID_S5K3P8SP 2
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@ -15,6 +17,12 @@
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#define CAMERA_ID_AR0231 8
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#define CAMERA_ID_AR0231 8
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#define CAMERA_ID_MAX 9
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#define CAMERA_ID_MAX 9
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#define LOG_CAMERA_ID_FCAMERA 0
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#define LOG_CAMERA_ID_DCAMERA 1
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#define LOG_CAMERA_ID_ECAMERA 2
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#define LOG_CAMERA_ID_QCAMERA 3
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#define LOG_CAMERA_ID_MAX 4
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#ifdef __cplusplus
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#ifdef __cplusplus
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extern "C" {
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extern "C" {
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#endif
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#endif
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@ -28,6 +36,19 @@ typedef struct CameraInfo {
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bool hdr;
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bool hdr;
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} CameraInfo;
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} CameraInfo;
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typedef struct LogCameraInfo {
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const char* filename;
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const char* frame_packet_name;
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const char* encode_idx_name;
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VisionStreamType stream_type;
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int frame_width, frame_height;
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int fps;
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int bitrate;
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bool is_h265;
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bool downscale;
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bool has_qcamera;
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} LogCameraInfo;
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typedef struct FrameMetadata {
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typedef struct FrameMetadata {
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uint32_t frame_id;
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uint32_t frame_id;
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uint64_t timestamp_eof;
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uint64_t timestamp_eof;
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@ -564,6 +564,9 @@ void encoder_open(EncoderState *s, const char* path) {
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avformat_alloc_output_context2(&s->ofmt_ctx, NULL, NULL, s->vid_path);
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avformat_alloc_output_context2(&s->ofmt_ctx, NULL, NULL, s->vid_path);
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assert(s->ofmt_ctx);
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assert(s->ofmt_ctx);
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#ifdef QCOM2
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s->ofmt_ctx->oformat->flags = AVFMT_TS_NONSTRICT;
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#endif
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s->out_stream = avformat_new_stream(s->ofmt_ctx, NULL);
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s->out_stream = avformat_new_stream(s->ofmt_ctx, NULL);
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assert(s->out_stream);
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assert(s->out_stream);
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@ -11,6 +11,7 @@
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#include <libyuv.h>
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#include <libyuv.h>
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#include <sys/resource.h>
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#include <sys/resource.h>
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#include <pthread.h>
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#include <pthread.h>
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#include <math.h>
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#include <string>
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#include <string>
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#include <iostream>
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#include <iostream>
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@ -19,6 +20,7 @@
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#include <thread>
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#include <thread>
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#include <mutex>
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#include <mutex>
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#include <condition_variable>
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#include <condition_variable>
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#include <atomic>
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#include <random>
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#include <random>
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#include <ftw.h>
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#include <ftw.h>
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@ -34,7 +36,7 @@
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#include "common/visionipc.h"
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#include "common/visionipc.h"
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#include "common/utilpp.h"
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#include "common/utilpp.h"
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#include "common/util.h"
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#include "common/util.h"
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#include "camerad/cameras/camera_common.h"
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#include "logger.h"
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#include "logger.h"
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#include "messaging.hpp"
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#include "messaging.hpp"
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#include "services.h"
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#include "services.h"
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@ -44,28 +46,73 @@
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#define DISABLE_ENCODER
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#define DISABLE_ENCODER
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#endif
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#endif
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#ifndef DISABLE_ENCODER
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#ifndef DISABLE_ENCODER
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#include "encoder.h"
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#include "encoder.h"
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#include "raw_logger.h"
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#include "raw_logger.h"
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#endif
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#endif
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#include "cereal/gen/cpp/log.capnp.h"
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#define CAM_IDX_FCAM 0
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#define CAM_IDX_DCAM 1
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#define CAM_IDX_ECAM 2
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#define CAMERA_FPS 20
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#define SEGMENT_LENGTH 60
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#define MAIN_BITRATE 5000000
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#define MAIN_BITRATE 5000000
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#define QCAM_BITRATE 128000
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#define MAIN_FPS 20
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#ifndef QCOM2
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#ifndef QCOM2
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#define MAX_CAM_IDX LOG_CAMERA_ID_DCAMERA
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#define DCAM_BITRATE 2500000
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#define DCAM_BITRATE 2500000
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#else
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#else
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#define MAX_CAM_IDX LOG_CAMERA_ID_ECAMERA
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#define DCAM_BITRATE MAIN_BITRATE
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#define DCAM_BITRATE MAIN_BITRATE
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#endif
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#endif
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#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
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LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
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[LOG_CAMERA_ID_FCAMERA] = {
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.stream_type = VISION_STREAM_YUV,
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.filename = "fcamera.hevc",
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.frame_packet_name = "frame",
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.encode_idx_name = "encodeIdx",
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.fps = MAIN_FPS,
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.bitrate = MAIN_BITRATE,
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.is_h265 = true,
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.downscale = false,
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.has_qcamera = true
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},
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[LOG_CAMERA_ID_DCAMERA] = {
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.stream_type = VISION_STREAM_YUV_FRONT,
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.filename = "dcamera.hevc",
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.frame_packet_name = "frontFrame",
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.encode_idx_name = "frontEncodeIdx",
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.fps = MAIN_FPS, // on EONs, more compressed this way
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.bitrate = DCAM_BITRATE,
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.is_h265 = true,
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.downscale = false,
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.has_qcamera = false
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},
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[LOG_CAMERA_ID_ECAMERA] = {
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.stream_type = VISION_STREAM_YUV_WIDE,
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.filename = "ecamera.hevc",
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.frame_packet_name = "wideFrame",
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.encode_idx_name = "wideEncodeIdx",
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.fps = MAIN_FPS,
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.bitrate = MAIN_BITRATE,
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.is_h265 = true,
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.downscale = false,
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.has_qcamera = false
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},
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[LOG_CAMERA_ID_QCAMERA] = {
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.filename = "qcamera.ts",
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.fps = MAIN_FPS,
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.bitrate = QCAM_BITRATE,
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.is_h265 = false,
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.downscale = true,
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#ifndef QCOM2
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.frame_width = 480, .frame_height = 360
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#else
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.frame_width = 526, .frame_height = 330 // keep pixel count the same?
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#endif
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},
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};
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#define SEGMENT_LENGTH 60
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#define LOG_ROOT "/data/media/0/realdata"
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#define LOG_ROOT "/data/media/0/realdata"
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#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
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#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
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static void set_do_exit(int sig) {
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static void set_do_exit(int sig) {
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do_exit = 1;
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do_exit = 1;
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}
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}
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class RotateState {
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public:
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SubSocket* fpkt_sock;
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uint32_t stream_frame_id, log_frame_id, last_rotate_frame_id;
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bool enabled, should_rotate;
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RotateState() : fpkt_sock(nullptr), stream_frame_id(0), log_frame_id(0),
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last_rotate_frame_id(UINT32_MAX), enabled(false), should_rotate(false) {};
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void waitLogThread() {
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std::unique_lock<std::mutex> lk(fid_lock);
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while (stream_frame_id > log_frame_id //if the log camera is older, wait for it to catch up.
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&& (stream_frame_id - log_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted)
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&& !do_exit) {
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cv.wait(lk);
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}
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}
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void cancelWait() { cv.notify_one(); }
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void setStreamFrameId(uint32_t frame_id) {
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fid_lock.lock();
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stream_frame_id = frame_id;
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fid_lock.unlock();
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cv.notify_one();
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}
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void setLogFrameId(uint32_t frame_id) {
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fid_lock.lock();
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log_frame_id = frame_id;
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fid_lock.unlock();
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cv.notify_one();
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}
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void rotate() {
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if (!enabled) { return; }
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std::unique_lock<std::mutex> lk(fid_lock);
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should_rotate = true;
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last_rotate_frame_id = stream_frame_id;
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}
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void finish_rotate() {
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std::unique_lock<std::mutex> lk(fid_lock);
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should_rotate = false;
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}
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private:
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std::mutex fid_lock;
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std::condition_variable cv;
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};
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struct LoggerdState {
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struct LoggerdState {
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Context *ctx;
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Context *ctx;
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LoggerState logger;
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LoggerState logger;
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std::mutex lock;
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std::condition_variable cv;
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char segment_path[4096];
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char segment_path[4096];
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uint32_t last_frame_id;
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uint32_t rotate_last_frame_id;
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int rotate_segment;
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int rotate_segment;
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int rotate_seq_id;
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pthread_mutex_t rotate_lock;
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pthread_mutex_t rotate_lock;
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int num_encoder;
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int num_encoder;
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int should_close;
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std::atomic<int> rotate_seq_id;
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int finish_close;
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std::atomic<int> should_close;
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std::atomic<int> finish_close;
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RotateState rotate_state[LOG_CAMERA_ID_MAX-1];
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};
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};
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LoggerdState s;
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LoggerdState s;
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#ifndef DISABLE_ENCODER
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#ifndef DISABLE_ENCODER
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void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
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void encoder_thread(RotateState *rotate_state, bool is_streaming, bool raw_clips, int cam_idx) {
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int err;
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// 0:f, 1:d, 2:e
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switch (cam_idx) {
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if (cam_idx == CAM_IDX_DCAM) {
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case LOG_CAMERA_ID_DCAMERA: {
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// TODO: add this back
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LOGW("recording front camera");
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#ifndef QCOM2
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set_thread_name("FrontCameraEncoder");
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if (!read_db_bool("RecordFront")) return;
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break;
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LOGW("recording front camera");
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}
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#endif
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case LOG_CAMERA_ID_FCAMERA: {
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set_thread_name("FrontCameraEncoder");
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set_thread_name("RearCameraEncoder");
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} else if (cam_idx == CAM_IDX_FCAM) {
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break;
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set_thread_name("RearCameraEncoder");
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}
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} else if (cam_idx == CAM_IDX_ECAM) {
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case LOG_CAMERA_ID_ECAMERA: {
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set_thread_name("WideCameraEncoder");
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set_thread_name("WideCameraEncoder");
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} else {
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break;
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LOGE("unexpected camera index provided");
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}
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assert(false);
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default: {
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LOGE("unexpected camera index provided");
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assert(false);
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}
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}
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}
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VisionStream stream;
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VisionStream stream;
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@ -131,30 +228,24 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
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bool encoder_inited = false;
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bool encoder_inited = false;
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EncoderState encoder;
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EncoderState encoder;
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EncoderState encoder_alt;
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EncoderState encoder_alt;
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bool has_encoder_alt = false;
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bool has_encoder_alt = cameras_logged[cam_idx].has_qcamera;
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int encoder_segment = -1;
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int cnt = 0;
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rotate_state->enabled = true;
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pthread_mutex_lock(&s.rotate_lock);
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pthread_mutex_lock(&s.rotate_lock);
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int my_idx = s.num_encoder;
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int my_idx = s.num_encoder;
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s.num_encoder += 1;
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s.num_encoder += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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pthread_mutex_unlock(&s.rotate_lock);
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int encoder_segment = -1;
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PubSocket *idx_sock = PubSocket::create(s.ctx, cameras_logged[cam_idx].encode_idx_name);
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int cnt = 0;
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PubSocket *idx_sock = PubSocket::create(s.ctx, cam_idx == CAM_IDX_DCAM ? "frontEncodeIdx" : (cam_idx == CAM_IDX_ECAM ? "wideEncodeIdx" : "encodeIdx"));
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assert(idx_sock != NULL);
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assert(idx_sock != NULL);
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LoggerHandle *lh = NULL;
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LoggerHandle *lh = NULL;
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while (!do_exit) {
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while (!do_exit) {
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VisionStreamBufs buf_info;
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VisionStreamBufs buf_info;
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if (cam_idx == CAM_IDX_DCAM) {
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int err = visionstream_init(&stream, cameras_logged[cam_idx].stream_type, false, &buf_info);
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err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, false, &buf_info);
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} else if (cam_idx == CAM_IDX_FCAM) {
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err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
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} else if (cam_idx == CAM_IDX_ECAM) {
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err = visionstream_init(&stream, VISION_STREAM_YUV_WIDE, false, &buf_info);
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}
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if (err != 0) {
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if (err != 0) {
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LOGD("visionstream connect fail");
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LOGD("visionstream connect fail");
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usleep(100000);
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usleep(100000);
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@ -163,15 +254,24 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
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if (!encoder_inited) {
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if (!encoder_inited) {
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LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
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LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
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encoder_init(&encoder, cam_idx == CAM_IDX_DCAM ? "dcamera.hevc" : (cam_idx == CAM_IDX_ECAM ? "ecamera.hevc" : "fcamera.hevc"), buf_info.width, buf_info.height, CAMERA_FPS, cam_idx == CAM_IDX_DCAM ? DCAM_BITRATE:MAIN_BITRATE, true, false);
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encoder_init(&encoder, cameras_logged[cam_idx].filename,
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buf_info.width,
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buf_info.height,
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cameras_logged[cam_idx].fps,
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cameras_logged[cam_idx].bitrate,
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cameras_logged[cam_idx].is_h265,
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cameras_logged[cam_idx].downscale);
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#ifndef QCOM2
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if (has_encoder_alt) {
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// TODO: fix qcamera on tici
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encoder_init(&encoder_alt, cameras_logged[LOG_CAMERA_ID_QCAMERA].filename,
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if (cam_idx == CAM_IDX_FCAM) {
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cameras_logged[LOG_CAMERA_ID_QCAMERA].frame_width,
|
||||||
encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true);
|
cameras_logged[LOG_CAMERA_ID_QCAMERA].frame_height,
|
||||||
has_encoder_alt = true;
|
cameras_logged[LOG_CAMERA_ID_QCAMERA].fps,
|
||||||
|
cameras_logged[LOG_CAMERA_ID_QCAMERA].bitrate,
|
||||||
|
cameras_logged[LOG_CAMERA_ID_QCAMERA].is_h265,
|
||||||
|
cameras_logged[LOG_CAMERA_ID_QCAMERA].downscale);
|
||||||
}
|
}
|
||||||
#endif
|
|
||||||
encoder_inited = true;
|
encoder_inited = true;
|
||||||
if (is_streaming) {
|
if (is_streaming) {
|
||||||
encoder.zmq_ctx = zmq_ctx_new();
|
encoder.zmq_ctx = zmq_ctx_new();
|
||||||
|
@ -187,7 +287,7 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
|
||||||
RawLogger *rawlogger = NULL;
|
RawLogger *rawlogger = NULL;
|
||||||
|
|
||||||
if (raw_clips) {
|
if (raw_clips) {
|
||||||
rawlogger = new RawLogger("prcamera", buf_info.width, buf_info.height, CAMERA_FPS);
|
rawlogger = new RawLogger("prcamera", buf_info.width, buf_info.height, MAIN_FPS);
|
||||||
}
|
}
|
||||||
|
|
||||||
while (!do_exit) {
|
while (!do_exit) {
|
||||||
|
@ -203,66 +303,46 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
|
||||||
//double msdiff = (double) diff / 1000000.0;
|
//double msdiff = (double) diff / 1000000.0;
|
||||||
// printf("logger latency to tsEof: %f\n", msdiff);
|
// printf("logger latency to tsEof: %f\n", msdiff);
|
||||||
|
|
||||||
uint8_t *y = (uint8_t*)buf->addr;
|
{ // all the rotation stuff
|
||||||
uint8_t *u = y + (buf_info.width*buf_info.height);
|
|
||||||
uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
|
pthread_mutex_lock(&s.rotate_lock);
|
||||||
|
pthread_mutex_unlock(&s.rotate_lock);
|
||||||
|
|
||||||
|
// wait if camera pkt id is older than stream
|
||||||
|
rotate_state->waitLogThread();
|
||||||
|
|
||||||
{
|
|
||||||
// all the rotation stuff
|
|
||||||
bool should_rotate = false;
|
|
||||||
std::unique_lock<std::mutex> lk(s.lock);
|
|
||||||
if (cam_idx == CAM_IDX_FCAM) { // TODO: should wait for three cameras on tici?
|
|
||||||
// wait if log camera is older on back camera
|
|
||||||
while ( extra.frame_id > s.last_frame_id //if the log camera is older, wait for it to catch up.
|
|
||||||
&& (extra.frame_id-s.last_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted)
|
|
||||||
&& !do_exit) {
|
|
||||||
s.cv.wait(lk);
|
|
||||||
}
|
|
||||||
should_rotate = extra.frame_id > s.rotate_last_frame_id && encoder_segment < s.rotate_segment && s.rotate_seq_id == my_idx;
|
|
||||||
} else {
|
|
||||||
// front camera is best effort
|
|
||||||
should_rotate = encoder_segment < s.rotate_segment && s.rotate_seq_id == my_idx;
|
|
||||||
}
|
|
||||||
if (do_exit) break;
|
if (do_exit) break;
|
||||||
|
|
||||||
// rotate the encoder if the logger is on a newer segment
|
// rotate the encoder if the logger is on a newer segment
|
||||||
if (should_rotate) {
|
if (rotate_state->should_rotate) {
|
||||||
LOG("rotate encoder to %s", s.segment_path);
|
if (rotate_state->last_rotate_frame_id == 0) {
|
||||||
|
rotate_state->last_rotate_frame_id = extra.frame_id - 1;
|
||||||
|
}
|
||||||
|
while (s.rotate_seq_id != my_idx && !do_exit) { usleep(1000); }
|
||||||
|
LOGW("camera %d rotate encoder to %s.", cam_idx, s.segment_path);
|
||||||
encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
|
encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
|
||||||
s.rotate_seq_id = (my_idx + 1) % s.num_encoder;
|
s.rotate_seq_id = (my_idx + 1) % s.num_encoder;
|
||||||
|
|
||||||
if (has_encoder_alt) {
|
if (has_encoder_alt) {
|
||||||
encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
|
encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (raw_clips) {
|
if (raw_clips) {
|
||||||
rawlogger->Rotate(s.segment_path, s.rotate_segment);
|
rawlogger->Rotate(s.segment_path, s.rotate_segment);
|
||||||
}
|
}
|
||||||
|
|
||||||
encoder_segment = s.rotate_segment;
|
encoder_segment = s.rotate_segment;
|
||||||
if (lh) {
|
if (lh) {
|
||||||
lh_close(lh);
|
lh_close(lh);
|
||||||
}
|
}
|
||||||
lh = logger_get_handle(&s.logger);
|
lh = logger_get_handle(&s.logger);
|
||||||
}
|
|
||||||
|
|
||||||
if (encoder.rotating) {
|
|
||||||
pthread_mutex_lock(&s.rotate_lock);
|
pthread_mutex_lock(&s.rotate_lock);
|
||||||
s.should_close += 1;
|
s.should_close += 1;
|
||||||
pthread_mutex_unlock(&s.rotate_lock);
|
pthread_mutex_unlock(&s.rotate_lock);
|
||||||
|
|
||||||
while(s.should_close > 0 && s.should_close < s.num_encoder) {
|
while(s.should_close > 0 && s.should_close < s.num_encoder && !do_exit) { usleep(1000); }
|
||||||
// printf("%d waiting for others to reach close, %d/%d \n", my_idx, s.should_close, s.num_encoder);
|
|
||||||
s.cv.wait(lk);
|
|
||||||
}
|
|
||||||
|
|
||||||
pthread_mutex_lock(&s.rotate_lock);
|
pthread_mutex_lock(&s.rotate_lock);
|
||||||
if (s.should_close == s.num_encoder) {
|
s.should_close = s.should_close == s.num_encoder ? 1 - s.num_encoder : s.should_close + 1;
|
||||||
s.should_close = 1 - s.num_encoder;
|
|
||||||
} else {
|
|
||||||
s.should_close += 1;
|
|
||||||
}
|
|
||||||
encoder_close(&encoder);
|
encoder_close(&encoder);
|
||||||
encoder_open(&encoder, encoder.next_path);
|
encoder_open(&encoder, encoder.next_path);
|
||||||
encoder.segment = encoder.next_segment;
|
encoder.segment = encoder.next_segment;
|
||||||
|
@ -276,13 +356,18 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
|
||||||
s.finish_close += 1;
|
s.finish_close += 1;
|
||||||
pthread_mutex_unlock(&s.rotate_lock);
|
pthread_mutex_unlock(&s.rotate_lock);
|
||||||
|
|
||||||
while(s.finish_close > 0 && s.finish_close < s.num_encoder) {
|
while(s.finish_close > 0 && s.finish_close < s.num_encoder && !do_exit) { usleep(1000); }
|
||||||
// printf("%d waiting for others to actually close, %d/%d \n", my_idx, s.finish_close, s.num_encoder);
|
|
||||||
s.cv.wait(lk);
|
|
||||||
}
|
|
||||||
s.finish_close = 0;
|
s.finish_close = 0;
|
||||||
|
|
||||||
|
rotate_state->finish_rotate();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
rotate_state->setStreamFrameId(extra.frame_id);
|
||||||
|
|
||||||
|
uint8_t *y = (uint8_t*)buf->addr;
|
||||||
|
uint8_t *u = y + (buf_info.width*buf_info.height);
|
||||||
|
uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
|
||||||
{
|
{
|
||||||
// encode hevc
|
// encode hevc
|
||||||
int out_segment = -1;
|
int out_segment = -1;
|
||||||
|
@ -302,11 +387,12 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
|
||||||
MessageBuilder msg;
|
MessageBuilder msg;
|
||||||
auto eidx = msg.initEvent().initEncodeIdx();
|
auto eidx = msg.initEvent().initEncodeIdx();
|
||||||
eidx.setFrameId(extra.frame_id);
|
eidx.setFrameId(extra.frame_id);
|
||||||
#ifdef QCOM2
|
#ifdef QCOM2
|
||||||
eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
|
eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
|
||||||
#else
|
#else
|
||||||
eidx.setType(cam_idx == CAM_IDX_DCAM ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
|
eidx.setType(cam_idx == LOG_CAMERA_ID_DCAMERA ? cereal::EncodeIndex::Type::FRONT:cereal::EncodeIndex::Type::FULL_H_E_V_C);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
eidx.setEncodeId(cnt);
|
eidx.setEncodeId(cnt);
|
||||||
eidx.setSegmentNum(out_segment);
|
eidx.setSegmentNum(out_segment);
|
||||||
eidx.setSegmentId(out_id);
|
eidx.setSegmentId(out_id);
|
||||||
|
@ -533,6 +619,10 @@ int main(int argc, char** argv) {
|
||||||
if (getenv("LOGGERD_TEST")) {
|
if (getenv("LOGGERD_TEST")) {
|
||||||
segment_length = atoi(getenv("LOGGERD_SEGMENT_LENGTH"));
|
segment_length = atoi(getenv("LOGGERD_SEGMENT_LENGTH"));
|
||||||
}
|
}
|
||||||
|
bool record_front = true;
|
||||||
|
#ifndef QCOM2
|
||||||
|
record_front = read_db_bool("RecordFront");
|
||||||
|
#endif
|
||||||
|
|
||||||
setpriority(PRIO_PROCESS, 0, -12);
|
setpriority(PRIO_PROCESS, 0, -12);
|
||||||
|
|
||||||
|
@ -546,7 +636,6 @@ int main(int argc, char** argv) {
|
||||||
|
|
||||||
// subscribe to all services
|
// subscribe to all services
|
||||||
|
|
||||||
SubSocket *frame_sock = NULL;
|
|
||||||
std::vector<SubSocket*> socks;
|
std::vector<SubSocket*> socks;
|
||||||
|
|
||||||
std::map<SubSocket*, int> qlog_counter;
|
std::map<SubSocket*, int> qlog_counter;
|
||||||
|
@ -558,12 +647,11 @@ int main(int argc, char** argv) {
|
||||||
if (it.should_log) {
|
if (it.should_log) {
|
||||||
SubSocket * sock = SubSocket::create(s.ctx, name);
|
SubSocket * sock = SubSocket::create(s.ctx, name);
|
||||||
assert(sock != NULL);
|
assert(sock != NULL);
|
||||||
|
|
||||||
poller->registerSocket(sock);
|
poller->registerSocket(sock);
|
||||||
socks.push_back(sock);
|
socks.push_back(sock);
|
||||||
|
|
||||||
if (name == "frame") {
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
|
||||||
frame_sock = sock;
|
if (name == cameras_logged[cid].frame_packet_name) { s.rotate_state[cid].fpkt_sock = sock; }
|
||||||
}
|
}
|
||||||
|
|
||||||
qlog_counter[sock] = (it.decimation == -1) ? -1 : 0;
|
qlog_counter[sock] = (it.decimation == -1) ? -1 : 0;
|
||||||
|
@ -571,7 +659,6 @@ int main(int argc, char** argv) {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
{
|
{
|
||||||
auto words = gen_init_data();
|
auto words = gen_init_data();
|
||||||
auto bytes = words.asBytes();
|
auto bytes = words.asBytes();
|
||||||
|
@ -588,14 +675,6 @@ int main(int argc, char** argv) {
|
||||||
is_logging = false;
|
is_logging = false;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (is_logging) {
|
|
||||||
err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
|
|
||||||
assert(err == 0);
|
|
||||||
LOGW("logging to %s", s.segment_path);
|
|
||||||
}
|
|
||||||
|
|
||||||
double start_ts = seconds_since_boot();
|
|
||||||
double last_rotate_ts = start_ts;
|
|
||||||
s.rotate_seq_id = 0;
|
s.rotate_seq_id = 0;
|
||||||
s.should_close = 0;
|
s.should_close = 0;
|
||||||
s.finish_close = 0;
|
s.finish_close = 0;
|
||||||
|
@ -603,74 +682,124 @@ int main(int argc, char** argv) {
|
||||||
pthread_mutex_init(&s.rotate_lock, NULL);
|
pthread_mutex_init(&s.rotate_lock, NULL);
|
||||||
#ifndef DISABLE_ENCODER
|
#ifndef DISABLE_ENCODER
|
||||||
// rear camera
|
// rear camera
|
||||||
std::thread encoder_thread_handle(encoder_thread, is_streaming, false, CAM_IDX_FCAM);
|
std::thread encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_FCAMERA], is_streaming, false, LOG_CAMERA_ID_FCAMERA);
|
||||||
|
|
||||||
// front camera
|
// front camera
|
||||||
std::thread front_encoder_thread_handle(encoder_thread, false, false, CAM_IDX_DCAM);
|
std::thread front_encoder_thread_handle;
|
||||||
|
if (record_front) {
|
||||||
|
front_encoder_thread_handle = std::thread(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_DCAMERA], false, false, LOG_CAMERA_ID_DCAMERA);
|
||||||
|
}
|
||||||
#ifdef QCOM2
|
#ifdef QCOM2
|
||||||
// wide camera
|
// wide camera
|
||||||
std::thread wide_encoder_thread_handle(encoder_thread, false, false, CAM_IDX_ECAM);
|
std::thread wide_encoder_thread_handle(encoder_thread, &s.rotate_state[LOG_CAMERA_ID_ECAMERA], false, false, LOG_CAMERA_ID_ECAMERA);
|
||||||
#endif
|
#endif
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
uint64_t msg_count = 0;
|
uint64_t msg_count = 0;
|
||||||
uint64_t bytes_count = 0;
|
uint64_t bytes_count = 0;
|
||||||
|
kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
|
||||||
|
|
||||||
|
double start_ts = seconds_since_boot();
|
||||||
|
double last_rotate_tms = millis_since_boot();
|
||||||
|
double last_camera_seen_tms = millis_since_boot();
|
||||||
|
uint32_t last_seen_log_frame_id[LOG_CAMERA_ID_MAX-1] = {0};
|
||||||
|
uint32_t last_seen_log_frame_id_max = 0;
|
||||||
while (!do_exit) {
|
while (!do_exit) {
|
||||||
for (auto sock : poller->poll(100 * 1000)) {
|
for (auto sock : poller->poll(100 * 1000)) {
|
||||||
|
Message * last_msg = nullptr;
|
||||||
while (true) {
|
while (true) {
|
||||||
Message * msg = sock->receive(true);
|
Message * msg = sock->receive(true);
|
||||||
if (msg == NULL){
|
if (msg == NULL){
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
delete last_msg;
|
||||||
|
last_msg = msg;
|
||||||
|
|
||||||
uint8_t* data = (uint8_t*)msg->getData();
|
logger_log(&s.logger, (uint8_t*)msg->getData(), msg->getSize(), qlog_counter[sock] == 0);
|
||||||
size_t len = msg->getSize();
|
|
||||||
|
|
||||||
if (sock == frame_sock) {
|
|
||||||
// track camera frames to sync to encoder
|
|
||||||
auto amsg = kj::heapArray<capnp::word>((len / sizeof(capnp::word)) + 1);
|
|
||||||
memcpy(amsg.begin(), data, len);
|
|
||||||
|
|
||||||
capnp::FlatArrayMessageReader cmsg(amsg);
|
|
||||||
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
|
||||||
if (event.isFrame()) {
|
|
||||||
std::unique_lock<std::mutex> lk(s.lock);
|
|
||||||
s.last_frame_id = event.getFrame().getFrameId();
|
|
||||||
lk.unlock();
|
|
||||||
s.cv.notify_all();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
logger_log(&s.logger, data, len, qlog_counter[sock] == 0);
|
|
||||||
delete msg;
|
|
||||||
|
|
||||||
if (qlog_counter[sock] != -1) {
|
if (qlog_counter[sock] != -1) {
|
||||||
//printf("%p: %d/%d\n", socks[i], qlog_counter[socks[i]], qlog_freqs[socks[i]]);
|
//printf("%p: %d/%d\n", socks[i], qlog_counter[socks[i]], qlog_freqs[socks[i]]);
|
||||||
qlog_counter[sock]++;
|
qlog_counter[sock]++;
|
||||||
qlog_counter[sock] %= qlog_freqs[sock];
|
qlog_counter[sock] %= qlog_freqs[sock];
|
||||||
}
|
}
|
||||||
|
bytes_count += msg->getSize();
|
||||||
bytes_count += len;
|
|
||||||
msg_count++;
|
msg_count++;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (last_msg) {
|
||||||
|
int fpkt_id = -1;
|
||||||
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
|
||||||
|
if (sock == s.rotate_state[cid].fpkt_sock) {fpkt_id=cid; break;}
|
||||||
|
}
|
||||||
|
if (fpkt_id>=0) {
|
||||||
|
// track camera frames to sync to encoder
|
||||||
|
// only process last frame
|
||||||
|
const uint8_t* data = (uint8_t*)last_msg->getData();
|
||||||
|
const size_t len = last_msg->getSize();
|
||||||
|
const size_t size = len / sizeof(capnp::word) + 1;
|
||||||
|
if (buf.size() < size) {
|
||||||
|
buf = kj::heapArray<capnp::word>(size);
|
||||||
|
}
|
||||||
|
memcpy(buf.begin(), data, len);
|
||||||
|
|
||||||
|
capnp::FlatArrayMessageReader cmsg(buf);
|
||||||
|
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
||||||
|
|
||||||
|
if (fpkt_id == LOG_CAMERA_ID_FCAMERA) {
|
||||||
|
s.rotate_state[fpkt_id].setLogFrameId(event.getFrame().getFrameId());
|
||||||
|
} else if (fpkt_id == LOG_CAMERA_ID_DCAMERA) {
|
||||||
|
s.rotate_state[fpkt_id].setLogFrameId(event.getFrontFrame().getFrameId());
|
||||||
|
} else if (fpkt_id == LOG_CAMERA_ID_ECAMERA) {
|
||||||
|
s.rotate_state[fpkt_id].setLogFrameId(event.getWideFrame().getFrameId());
|
||||||
|
}
|
||||||
|
last_seen_log_frame_id[fpkt_id] = s.rotate_state[fpkt_id].log_frame_id;
|
||||||
|
last_seen_log_frame_id_max = fmax(last_seen_log_frame_id_max, s.rotate_state[fpkt_id].log_frame_id);
|
||||||
|
last_camera_seen_tms = millis_since_boot();
|
||||||
|
}
|
||||||
|
delete last_msg;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
double ts = seconds_since_boot();
|
double ts = seconds_since_boot();
|
||||||
if (ts - last_rotate_ts > segment_length) {
|
double tms = millis_since_boot();
|
||||||
|
|
||||||
|
bool new_segment = false;
|
||||||
|
|
||||||
|
if (s.logger.part > -1) {
|
||||||
|
new_segment = true;
|
||||||
|
if (tms - last_camera_seen_tms <= NO_CAMERA_PATIENCE) {
|
||||||
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) {
|
||||||
|
// this *should* be redundant on tici since all camera frames are synced
|
||||||
|
new_segment &= (((s.rotate_state[cid].stream_frame_id >= s.rotate_state[cid].last_rotate_frame_id + segment_length * MAIN_FPS) &&
|
||||||
|
(!s.rotate_state[cid].should_rotate)) ||
|
||||||
|
(!s.rotate_state[cid].enabled));
|
||||||
|
if (last_seen_log_frame_id[cid] + 2 < last_seen_log_frame_id_max) { LOGW("camera %d lags behind", cid); }
|
||||||
|
#ifndef QCOM2
|
||||||
|
break; // only look at fcamera frame id if not QCOM2
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
new_segment &= tms - last_rotate_tms > segment_length * 1000;
|
||||||
|
if (new_segment) { LOGW("no camera packet seen. auto rotated"); }
|
||||||
|
}
|
||||||
|
} else if (s.logger.part == -1) {
|
||||||
|
// always starts first segment immediately
|
||||||
|
new_segment = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (new_segment) {
|
||||||
|
pthread_mutex_lock(&s.rotate_lock);
|
||||||
|
last_rotate_tms = millis_since_boot();
|
||||||
|
|
||||||
// rotate the log
|
// rotate the log
|
||||||
|
|
||||||
last_rotate_ts += segment_length;
|
|
||||||
|
|
||||||
std::lock_guard<std::mutex> guard(s.lock);
|
|
||||||
s.rotate_last_frame_id = s.last_frame_id;
|
|
||||||
|
|
||||||
if (is_logging) {
|
if (is_logging) {
|
||||||
err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
|
err = logger_next(&s.logger, LOG_ROOT, s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
|
||||||
assert(err == 0);
|
assert(err == 0);
|
||||||
|
if (s.logger.part == 0) { LOGW("logging to %s", s.segment_path); }
|
||||||
LOGW("rotated to %s", s.segment_path);
|
LOGW("rotated to %s", s.segment_path);
|
||||||
}
|
}
|
||||||
|
// rotate the encoders
|
||||||
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) { s.rotate_state[cid].rotate(); }
|
||||||
|
pthread_mutex_unlock(&s.rotate_lock);
|
||||||
}
|
}
|
||||||
|
|
||||||
if ((msg_count%1000) == 0) {
|
if ((msg_count%1000) == 0) {
|
||||||
|
@ -679,14 +808,15 @@ int main(int argc, char** argv) {
|
||||||
}
|
}
|
||||||
|
|
||||||
LOGW("joining threads");
|
LOGW("joining threads");
|
||||||
s.cv.notify_all();
|
for (int cid=0;cid<=MAX_CAM_IDX;cid++) { s.rotate_state[cid].cancelWait(); }
|
||||||
|
|
||||||
|
|
||||||
#ifndef DISABLE_ENCODER
|
#ifndef DISABLE_ENCODER
|
||||||
#ifdef QCOM2
|
#ifdef QCOM2
|
||||||
wide_encoder_thread_handle.join();
|
wide_encoder_thread_handle.join();
|
||||||
#endif
|
#endif
|
||||||
front_encoder_thread_handle.join();
|
if (record_front) {
|
||||||
|
front_encoder_thread_handle.join();
|
||||||
|
}
|
||||||
encoder_thread_handle.join();
|
encoder_thread_handle.join();
|
||||||
LOGW("encoder joined");
|
LOGW("encoder joined");
|
||||||
#endif
|
#endif
|
||||||
|
|
|
@ -26,13 +26,13 @@ if EON:
|
||||||
"qcamera": 38533,
|
"qcamera": 38533,
|
||||||
}
|
}
|
||||||
elif TICI:
|
elif TICI:
|
||||||
CAMERAS = {f"{c}camera": FULL_SIZE for c in ["f", "e", "d"]}
|
CAMERAS = {f"{c}camera": FULL_SIZE if c!="q" else 38533 for c in ["f", "e", "d", "q"]}
|
||||||
else:
|
else:
|
||||||
CAMERAS = {}
|
CAMERAS = {}
|
||||||
|
|
||||||
ALL_CAMERA_COMBINATIONS = [(cameras,) for cameras in [CAMERAS, {k:CAMERAS[k] for k in CAMERAS if k!='dcamera'}]]
|
ALL_CAMERA_COMBINATIONS = [(cameras,) for cameras in [CAMERAS, {k:CAMERAS[k] for k in CAMERAS if k!='dcamera'}]]
|
||||||
|
|
||||||
FRAME_TOLERANCE = 2
|
FRAME_TOLERANCE = 0
|
||||||
FILE_SIZE_TOLERANCE = 0.5
|
FILE_SIZE_TOLERANCE = 0.5
|
||||||
|
|
||||||
class TestLoggerd(unittest.TestCase):
|
class TestLoggerd(unittest.TestCase):
|
||||||
|
@ -113,8 +113,10 @@ class TestLoggerd(unittest.TestCase):
|
||||||
cmd = f"ffprobe -v error -count_frames -select_streams v:0 -show_entries stream=nb_read_frames \
|
cmd = f"ffprobe -v error -count_frames -select_streams v:0 -show_entries stream=nb_read_frames \
|
||||||
-of default=nokey=1:noprint_wrappers=1 {file_path}"
|
-of default=nokey=1:noprint_wrappers=1 {file_path}"
|
||||||
expected_frames = self.segment_length * CAMERA_FPS // 2 if (EON and camera=='dcamera') else self.segment_length * CAMERA_FPS
|
expected_frames = self.segment_length * CAMERA_FPS // 2 if (EON and camera=='dcamera') else self.segment_length * CAMERA_FPS
|
||||||
|
frame_tolerance = FRAME_TOLERANCE+1 if (EON and camera=='dcamera') or i==0 else FRAME_TOLERANCE
|
||||||
frame_count = int(subprocess.check_output(cmd, shell=True, encoding='utf8').strip())
|
frame_count = int(subprocess.check_output(cmd, shell=True, encoding='utf8').strip())
|
||||||
self.assertTrue(abs(expected_frames - frame_count) <= FRAME_TOLERANCE,
|
|
||||||
|
self.assertTrue(abs(expected_frames - frame_count) <= frame_tolerance,
|
||||||
f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
|
f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
|
||||||
shutil.rmtree(f"{route_prefix_path}--{i}")
|
shutil.rmtree(f"{route_prefix_path}--{i}")
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue