Fix OMX error on loggerd rotation when using multiple cameras (#1953)
* cherry pick from f8745d3002
* update cereal
* missed this line
* add enum
* Update selfdrive/loggerd/loggerd.cc
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update selfdrive/loggerd/loggerd.cc
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* use same logroot
Co-authored-by: Tici <robbe@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
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@ -23,8 +23,10 @@ typedef enum VisionIPCPacketType {
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typedef enum VisionStreamType {
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VISION_STREAM_RGB_BACK,
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VISION_STREAM_RGB_FRONT,
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VISION_STREAM_RGB_WIDE,
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VISION_STREAM_YUV,
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VISION_STREAM_YUV_FRONT,
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VISION_STREAM_YUV_WIDE,
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VISION_STREAM_MAX,
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} VisionStreamType;
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@ -474,17 +474,16 @@ int encoder_encode_frame(EncoderState *s,
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// this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
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// THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
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pthread_mutex_unlock(&s->lock);
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//pthread_mutex_unlock(&s->lock);
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OMX_BUFFERHEADERTYPE* in_buf = queue_pop(&s->free_in);
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pthread_mutex_lock(&s->lock);
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if (s->rotating) {
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encoder_close(s);
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encoder_open(s, s->next_path);
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s->segment = s->next_segment;
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s->rotating = false;
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}
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//pthread_mutex_lock(&s->lock);
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// if (s->rotating) {
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// encoder_close(s);
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// encoder_open(s, s->next_path);
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// s->segment = s->next_segment;
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// s->rotating = false;
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// }
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int ret = s->counter;
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uint8_t *in_buf_ptr = in_buf->pBuffer;
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@ -10,6 +10,7 @@
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#include <inttypes.h>
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#include <libyuv.h>
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#include <sys/resource.h>
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#include <pthread.h>
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#include <string>
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#include <iostream>
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@ -51,9 +52,22 @@
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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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#ifndef QCOM2
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#define DCAM_BITRATE 2500000
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#else
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#define DCAM_BITRATE MAIN_BITRATE
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#endif
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#define LOG_ROOT "/data/media/0/realdata"
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#define ENABLE_LIDAR 0
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#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
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@ -84,21 +98,35 @@ struct LoggerdState {
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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_seq_id;
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pthread_mutex_t rotate_lock;
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int num_encoder;
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int should_close;
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int finish_close;
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};
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LoggerdState s;
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#ifndef DISABLE_ENCODER
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void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
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int err;
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if (front) {
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// 0:f, 1:d, 2:e
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if (cam_idx == CAM_IDX_DCAM) {
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// TODO: add this back
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#ifndef QCOM2
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std::vector<char> value = read_db_bytes("RecordFront");
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if (value.size() == 0 || value[0] != '1') return;
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LOGW("recording front camera");
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#endif
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set_thread_name("FrontCameraEncoder");
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} else {
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} else if (cam_idx == CAM_IDX_FCAM) {
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set_thread_name("RearCameraEncoder");
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} else if (cam_idx == CAM_IDX_ECAM) {
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set_thread_name("WideCameraEncoder");
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} else {
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LOGE("unexpected camera index provided");
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assert(false);
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}
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VisionStream stream;
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@ -111,17 +139,19 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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int encoder_segment = -1;
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int cnt = 0;
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PubSocket *idx_sock = PubSocket::create(s.ctx, front ? "frontEncodeIdx" : "encodeIdx");
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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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LoggerHandle *lh = NULL;
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while (!do_exit) {
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VisionStreamBufs buf_info;
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if (front) {
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if (cam_idx == CAM_IDX_DCAM) {
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err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, false, &buf_info);
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} else {
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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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LOGD("visionstream connect fail");
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@ -131,11 +161,11 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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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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encoder_init(&encoder, front ? "dcamera.hevc" : "fcamera.hevc", buf_info.width, buf_info.height, CAMERA_FPS, front ? 2500000 : 5000000, true, false);
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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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#ifndef QCOM2
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// TODO: fix qcamera on tici
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if (!front) {
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if (cam_idx == CAM_IDX_FCAM) {
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encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true);
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has_encoder_alt = true;
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}
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@ -176,19 +206,20 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
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{
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// all the rotation stuff
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bool should_rotate = false;
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std::unique_lock<std::mutex> lk(s.lock);
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if (!front) {
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if (cam_idx == CAM_IDX_FCAM) { // TODO: should wait for three cameras on tici?
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// wait if log camera is older on back camera
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while ( extra.frame_id > s.last_frame_id //if the log camera is older, wait for it to catch up.
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&& (extra.frame_id-s.last_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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s.cv.wait(lk);
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}
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should_rotate = extra.frame_id > s.rotate_last_frame_id && encoder_segment < s.rotate_segment;
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should_rotate = extra.frame_id > s.rotate_last_frame_id && encoder_segment < s.rotate_segment && s.rotate_seq_id == cam_idx;
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} else {
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// front camera is best effort
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should_rotate = encoder_segment < s.rotate_segment;
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should_rotate = encoder_segment < s.rotate_segment && s.rotate_seq_id == cam_idx;
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}
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if (do_exit) break;
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@ -197,6 +228,8 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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LOG("rotate encoder to %s", s.segment_path);
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encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
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s.rotate_seq_id = (cam_idx + 1) % s.num_encoder;
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if (has_encoder_alt) {
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encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
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}
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@ -211,8 +244,37 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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}
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lh = logger_get_handle(&s.logger);
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}
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}
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if (encoder.rotating) {
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pthread_mutex_lock(&s.rotate_lock);
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s.should_close += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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while(s.should_close > 0 && s.should_close < s.num_encoder) {
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// printf("%d waiting for others to reach close, %d/%d \n", cam_idx, s.should_close, s.num_encoder);
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s.cv.wait(lk);
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}
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pthread_mutex_lock(&s.rotate_lock);
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if (s.should_close == s.num_encoder) {
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s.should_close = 1 - s.num_encoder;
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} else {
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s.should_close += 1;
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}
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encoder_close(&encoder);
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encoder_open(&encoder, encoder.next_path);
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encoder.segment = encoder.next_segment;
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encoder.rotating = false;
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s.finish_close += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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while(s.finish_close > 0 && s.finish_close < s.num_encoder) {
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// printf("%d waiting for others to actually close, %d/%d \n", cam_idx, s.finish_close, s.num_encoder);
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s.cv.wait(lk);
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}
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s.finish_close = 0;
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}
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}
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{
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// encode hevc
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int out_segment = -1;
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@ -220,7 +282,6 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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y, u, v,
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buf_info.width, buf_info.height,
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&out_segment, &extra);
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if (has_encoder_alt) {
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int out_segment_alt = -1;
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encoder_encode_frame(&encoder_alt,
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@ -235,13 +296,18 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
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event.setLogMonoTime(nanos_since_boot());
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auto eidx = event.initEncodeIdx();
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eidx.setFrameId(extra.frame_id);
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eidx.setType(front ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
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#ifdef QCOM2
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eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
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#else
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eidx.setType(cam_idx == CAM_IDX_DCAM ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
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#endif
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eidx.setEncodeId(cnt);
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eidx.setSegmentNum(out_segment);
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eidx.setSegmentId(out_id);
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auto words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
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printf("err sending encodeIdx pkt: %s\n", strerror(errno));
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}
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@ -607,13 +673,25 @@ int main(int argc, char** argv) {
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double start_ts = seconds_since_boot();
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double last_rotate_ts = start_ts;
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s.rotate_seq_id = 0;
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s.should_close = 0;
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s.finish_close = 0;
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s.num_encoder = 0;
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pthread_mutex_init(&s.rotate_lock, NULL);
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#ifndef DISABLE_ENCODER
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// rear camera
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std::thread encoder_thread_handle(encoder_thread, is_streaming, false, false);
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std::thread encoder_thread_handle(encoder_thread, is_streaming, false, CAM_IDX_FCAM);
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s.num_encoder += 1;
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// front camera
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std::thread front_encoder_thread_handle(encoder_thread, false, false, true);
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std::thread front_encoder_thread_handle(encoder_thread, false, false, CAM_IDX_DCAM);
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s.num_encoder += 1;
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#ifdef QCOM2
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// wide camera
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std::thread wide_encoder_thread_handle(encoder_thread, false, false, CAM_IDX_ECAM);
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s.num_encoder += 1;
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#endif
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#endif
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#if ENABLE_LIDAR
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@ -689,6 +767,9 @@ int main(int argc, char** argv) {
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#ifndef DISABLE_ENCODER
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#ifdef QCOM2
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wide_encoder_thread_handle.join();
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#endif
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front_encoder_thread_handle.join();
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encoder_thread_handle.join();
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LOGW("encoder joined");
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