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loggerd: set encodeIdx.valid if frame id is correct (#22634) 

* loggerd: set encodeIdx.valid if frame id is correct

* check valid flag in test

* test cleanup

* bump cereal
pull/22698/head
Willem Melching 2021-10-26 16:00:43 +02:00 committed by GitHub
parent c30bd052c3
commit 89f311714c
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 15 additions and 7 deletions
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2
cereal

@ -1 +1 @@
Subproject commit e5f5656f511aeba0e048d483f9fc3a374286cf4f
Subproject commit 7ae52a7d832d16bffb69b4a3d04c4c4d52dd71c2

2
selfdrive/camerad/cameras/camera_common.cc
View File

@ -156,6 +156,8 @@ bool CameraBuf::acquire() {
cur_frame_data.timestamp_sof,
cur_frame_data.timestamp_eof,
};
cur_rgb_buf->set_frame_id(cur_frame_data.frame_id);
cur_yuv_buf->set_frame_id(cur_frame_data.frame_id);
vipc_server->send(cur_rgb_buf, &extra);
vipc_server->send(cur_yuv_buf, &extra);

7
selfdrive/loggerd/loggerd.cc
View File

@ -214,7 +214,7 @@ void encoder_thread(const LogCameraInfo &cam_info) {
for (int i = 0; i < encoders.size(); ++i) {
int out_id = encoders[i]->encode_frame(buf->y, buf->u, buf->v,
buf->width, buf->height, extra.timestamp_eof);
if (out_id == -1) {
LOGE("Failed to encode frame. frame_id: %d encode_id: %d", extra.frame_id, encode_idx);
}
@ -223,8 +223,9 @@ void encoder_thread(const LogCameraInfo &cam_info) {
if (i == 0 && out_id != -1) {
MessageBuilder msg;
// this is really ugly
auto eidx = cam_info.type == DriverCam ? msg.initEvent().initDriverEncodeIdx() :
(cam_info.type == WideRoadCam ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
bool valid = (buf->get_frame_id() == extra.frame_id);
auto eidx = cam_info.type == DriverCam ? msg.initEvent(valid).initDriverEncodeIdx() :
(cam_info.type == WideRoadCam ? msg.initEvent(valid).initWideRoadEncodeIdx() : msg.initEvent(valid).initRoadEncodeIdx());
eidx.setFrameId(extra.frame_id);
eidx.setTimestampSof(extra.timestamp_sof);
eidx.setTimestampEof(extra.timestamp_eof);

11
selfdrive/loggerd/tests/test_encoder.py
View File

@ -121,10 +121,13 @@ class TestEncoder(unittest.TestCase):
# Check encodeIdx
if encode_idx_name is not None:
rlog_path = f"{route_prefix_path}--{i}/rlog.bz2"
msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
encode_msgs = [getattr(m, encode_idx_name) for m in msgs]
segment_idxs = [getattr(m, encode_idx_name).segmentId for m in LogReader(rlog_path) if m.which() == encode_idx_name]
encode_idxs = [getattr(m, encode_idx_name).encodeId for m in LogReader(rlog_path) if m.which() == encode_idx_name]
frame_idxs = [getattr(m, encode_idx_name).frameId for m in LogReader(rlog_path) if m.which() == encode_idx_name]
valid = [m.valid for m in msgs]
segment_idxs = [m.segmentId for m in encode_msgs]
encode_idxs = [m.encodeId for m in encode_msgs]
frame_idxs = [m.frameId for m in encode_msgs]
# Check frame count
self.assertEqual(frame_count, len(segment_idxs))
@ -134,6 +137,8 @@ class TestEncoder(unittest.TestCase):
self.assertEqual(0, segment_idxs[0])
self.assertEqual(len(set(segment_idxs)), len(segment_idxs))
self.assertTrue(all(valid))
if not eon_dcam:
self.assertEqual(expected_frames * i, encode_idxs[0])
first_frames.append(frame_idxs[0])