loggerd: fix double encoder open (#19703)
* fix double encoder open/close * simplify rotation * clean up * cleanup Co-authored-by: Comma Device <device@comma.ai>pull/19635/head
Adeeb Shihadeh
GitHub
parent
9ca8f1a357
commit
87e8ef1fca
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@ -456,11 +456,6 @@ int encoder_encode_frame(EncoderState *s,
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int err;
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pthread_mutex_lock(&s->lock);
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if (s->opening) {
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encoder_open(s, s->next_path);
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s->opening = false;
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}
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if (!s->open) {
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pthread_mutex_unlock(&s->lock);
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return -1;
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@ -538,20 +533,16 @@ int encoder_encode_frame(EncoderState *s,
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*frame_segment = s->segment;
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}
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if (s->closing) {
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encoder_close(s);
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s->closing = false;
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}
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pthread_mutex_unlock(&s->lock);
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return ret;
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}
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void encoder_open(EncoderState *s, const char* path) {
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void encoder_open(EncoderState *s, const char* path, int segment) {
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int err;
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pthread_mutex_lock(&s->lock);
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s->segment = segment;
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snprintf(s->vid_path, sizeof(s->vid_path), "%s/%s", path, s->filename);
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LOGD("encoder_open %s remuxing:%d", s->vid_path, s->remuxing);
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@ -647,23 +638,6 @@ void encoder_close(EncoderState *s) {
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pthread_mutex_unlock(&s->lock);
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}
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void encoder_rotate(EncoderState *s, const char* new_path, int new_segment) {
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pthread_mutex_lock(&s->lock);
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snprintf(s->next_path, sizeof(s->next_path), "%s", new_path);
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s->next_segment = new_segment;
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if (s->open) {
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if (s->next_segment == -1) {
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s->closing = true;
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} else {
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s->rotating = true;
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}
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} else {
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s->segment = s->next_segment;
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s->opening = true;
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}
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pthread_mutex_unlock(&s->lock);
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}
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void encoder_destroy(EncoderState *s) {
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int err;
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@ -707,89 +681,3 @@ void encoder_destroy(EncoderState *s) {
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free(s->v_ptr2);
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}
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}
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#if 0
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int main() {
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int err;
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EncoderState state;
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EncoderState *s = &state;
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memset(s, 0, sizeof(*s));
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int w = 1164;
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int h = 874;
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encoder_init(s, w, h, 20);
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printf("inited\n");
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encoder_open(s, "/sdcard/t1");
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// uint8_t *tmpy = malloc(640*480);
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// uint8_t *tmpu = malloc((640/2)*(480/2));
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// uint8_t *tmpv = malloc((640/2)*(480/2));
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// memset(tmpy, 0, 640*480);
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// // memset(tmpu, 0xff, (640/2)*(480/2));
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// memset(tmpv, 0, (640/2)*(480/2));
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// #if 0
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// FILE *infile = fopen("/sdcard/camera_t2.yuv", "rb");
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uint8_t *inbuf = malloc(w*h*3/2);
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memset(inbuf, 0, w*h*3/2);
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for (int i=0; i<20*3+5; i++) {
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// fread(inbuf, w*h*3/2, 1, infile);
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uint8_t *tmpy = inbuf;
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uint8_t *tmpu = inbuf + w*h;
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uint8_t *tmpv = inbuf + w*h + (w/2)*(h/2);
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for (int y=0; y<h/2; y++) {
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for (int x=0; x<w/2; x++) {
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tmpu[y * (w/2) + x] = (i ^ y ^ x);
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}
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}
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encoder_encode_frame(s, 20000*i, tmpy, tmpu, tmpv);
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}
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// #endif
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// while(1);
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printf("done\n");
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// encoder_close(s);
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// printf("restart\n");
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// fclose(s->of);
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// s->of = fopen("/sdcard/tmpout2.hevc", "wb");
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// if (s->codec_config) {
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// fwrite(s->codec_config, s->codec_config_len, 1, s->of);
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// }
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// encoder_open(s, "/sdcard/t1");
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encoder_rotate(s, "/sdcard/t2");
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for (int i=0; i<20*3+5; i++) {
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// fread(inbuf, w*h*3/2, 1, infile);
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uint8_t *tmpy = inbuf;
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uint8_t *tmpu = inbuf + w*h;
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uint8_t *tmpv = inbuf + w*h + (w/2)*(h/2);
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for (int y=0; y<h/2; y++) {
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for (int x=0; x<w/2; x++) {
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tmpu[y * (w/2) + x] = (i ^ y ^ x);
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}
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}
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encoder_encode_frame(s, 20000*i, tmpy, tmpu, tmpv);
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}
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encoder_close(s);
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return 0;
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}
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#endif
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@ -28,12 +28,6 @@ struct EncoderState {
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int counter;
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int segment;
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bool rotating;
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bool closing;
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bool opening;
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char next_path[1024];
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int next_segment;
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const char* filename;
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FILE *of;
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@ -72,7 +66,6 @@ int encoder_encode_frame(EncoderState *s,
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const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
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int in_width, int in_height,
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int *frame_segment, VisionIpcBufExtra *extra);
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void encoder_open(EncoderState *s, const char* path);
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void encoder_rotate(EncoderState *s, const char* new_path, int new_segment);
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void encoder_open(EncoderState *s, const char* path, int segment);
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void encoder_close(EncoderState *s);
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void encoder_destroy(EncoderState *s);
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@ -184,12 +184,6 @@ struct LoggerdState {
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char segment_path[4096];
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int rotate_segment;
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pthread_mutex_t rotate_lock;
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// video encders
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int num_encoder;
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std::atomic<int> rotate_seq_id;
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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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LoggerdState s;
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@ -199,21 +193,15 @@ void encoder_thread(int cam_idx) {
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assert(cam_idx < LOG_CAMERA_ID_MAX-1);
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LogCameraInfo &cam_info = cameras_logged[cam_idx];
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set_thread_name(cam_info.filename);
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RotateState &rotate_state = s.rotate_state[cam_idx];
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std::vector<EncoderState*> encoders;
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pthread_mutex_lock(&s.rotate_lock);
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int my_idx = s.num_encoder;
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s.num_encoder += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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set_thread_name(cam_info.filename);
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int cnt = 0;
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LoggerHandle *lh = NULL;
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std::vector<EncoderState*> encoders;
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VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
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while (!do_exit) {
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if (!vipc_client.connect(false)){
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util::sleep_for(100);
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@ -247,10 +235,7 @@ void encoder_thread(int cam_idx) {
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continue;
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}
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//uint64_t current_time = nanos_since_boot();
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//uint64_t diff = current_time - extra.timestamp_eof;
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//double msdiff = (double) diff / 1000000.0;
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// printf("logger latency to tsEof: %f\n", msdiff);
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//printf("logger latency to tsEof: %f\n", (double)(nanos_since_boot() - extra.timestamp_eof) / 1000000.0);
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// all the rotation stuff
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{
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@ -264,56 +249,32 @@ void encoder_thread(int cam_idx) {
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// rotate the encoder if the logger is on a newer segment
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if (rotate_state.should_rotate) {
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LOGW("camera %d rotate encoder to %s", cam_idx, s.segment_path);
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if (!rotate_state.initialized) {
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rotate_state.last_rotate_frame_id = extra.frame_id - 1;
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rotate_state.initialized = true;
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}
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// poll for our turn
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while (s.rotate_seq_id != my_idx && !do_exit) util::sleep_for(10);
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LOGW("camera %d rotate encoder to %s.", cam_idx, s.segment_path);
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for (auto &e : encoders) {
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encoder_rotate(e, s.segment_path, s.rotate_segment);
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}
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s.rotate_seq_id = (my_idx + 1) % s.num_encoder;
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if (lh) {
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lh_close(lh);
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}
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lh = logger_get_handle(&s.logger);
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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 && !do_exit) util::sleep_for(10);
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pthread_mutex_lock(&s.rotate_lock);
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s.should_close = s.should_close == s.num_encoder ? 1 - s.num_encoder : s.should_close + 1;
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for (auto &e : encoders) {
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encoder_close(e);
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encoder_open(e, e->next_path);
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e->segment = e->next_segment;
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e->rotating = false;
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encoder_open(e, s.segment_path, s.rotate_segment);
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}
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s.finish_close += 1;
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pthread_mutex_unlock(&s.rotate_lock);
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// wait for all to finish
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while(s.finish_close > 0 && s.finish_close < s.num_encoder && !do_exit) util::sleep_for(10);
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s.finish_close = 0;
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rotate_state.finish_rotate();
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}
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}
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rotate_state.setStreamFrameId(extra.frame_id);
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// encode a frame
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{
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// encode hevc
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int out_segment = -1;
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int out_id = encoder_encode_frame(encoders[0],
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buf->y, buf->u, buf->v,
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@ -358,7 +319,6 @@ void encoder_thread(int cam_idx) {
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lh_close(lh);
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lh = NULL;
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}
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}
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LOG("encoder destroy");
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@ -551,10 +511,6 @@ int main(int argc, char** argv) {
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}
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// init encoders
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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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// TODO: create these threads dynamically on frame packet presence
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@ -641,7 +597,7 @@ int main(int argc, char** argv) {
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bool new_segment = s.logger.part == -1;
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if (s.logger.part > -1) {
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double tms = millis_since_boot();
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if (tms - last_camera_seen_tms <= NO_CAMERA_PATIENCE && s.num_encoder > 0) {
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if (tms - last_camera_seen_tms <= NO_CAMERA_PATIENCE && encoder_threads.size() > 0) {
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new_segment = true;
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for (auto &r : s.rotate_state) {
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// this *should* be redundant on tici since all camera frames are synced
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