Encoderd: give every camera stream list of encoder streams (#28480)

* Compiles

* fixed something

* CLEANUP

* todo

* More cleanup

* Add TODO

* Update loggerd.cc

* remove write here too

system/loggerd/encoder/encoder.cc

@@ -5,9 +5,7 @@ VideoEncoder::~VideoEncoder() {}
 
 void VideoEncoder::publisher_init() {
   // publish
-  service_name = this->type == DriverCam ? "driverEncodeData" :
+  service_name = this->publish_name;
-    (this->type == WideRoadCam ? "wideRoadEncodeData" :
-    (this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData"));
   pm.reset(new PubMaster({service_name}));
 }
 

system/loggerd/encoder/encoder.h

@@ -14,9 +14,11 @@
 class VideoEncoder {
 public:
   VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-              int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height)
+              int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height,
+              const char* publish_name)
   : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
-    bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height) { }
+    bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height),
+    publish_name(publish_name) { }
   virtual ~VideoEncoder();
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open(const char* path) = 0;
@@ -28,6 +30,7 @@ public:
 
 protected:
   const char* filename;
+  const char* publish_name;
   int in_width, in_height;
   int out_width, out_height, fps;
   int bitrate;

system/loggerd/encoder/ffmpeg_encoder.h

@@ -17,8 +17,10 @@ extern "C" {
 class FfmpegEncoder : public VideoEncoder {
  public:
   FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-                int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height) :
+
-                VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height) { encoder_init(); }
+                int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height,
+                const char* publish_name) :
+                VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, publish_name) { encoder_init(); }
   ~FfmpegEncoder();
   void encoder_init();
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);

system/loggerd/encoder/v4l_encoder.h

@@ -9,8 +9,8 @@
 class V4LEncoder : public VideoEncoder {
 public:
   V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-             int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height) :
+             int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, const char* publish_name) :
-             VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height) { encoder_init(); }
+             VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, publish_name) { encoder_init(); }
   ~V4LEncoder();
   void encoder_init();
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);

system/loggerd/encoderd.cc

@@ -35,7 +35,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) {
 
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
-  util::set_thread_name(cam_info.filename);
+  util::set_thread_name(cam_info.encoder_infos[0].filename);
 
   std::vector<Encoder *> encoders;
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
@@ -50,20 +50,15 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
     // init encoders
     if (encoders.empty()) {
       VisionBuf buf_info = vipc_client.buffers[0];
-      LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height);
+      LOGW("encoder %s init %dx%d", cam_info.encoder_infos[0].filename, buf_info.width, buf_info.height);
 
       if (buf_info.width > 0 && buf_info.height > 0) {
-        // main encoder
+        for (const auto &encoder_info: cam_info.encoder_infos){
-        encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
+          encoders.push_back(new Encoder(encoder_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                      cam_info.fps, cam_info.bitrate,
+                                        encoder_info.fps, encoder_info.bitrate,
-                                      cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
+                                        encoder_info.encode_type,
-                                      buf_info.width, buf_info.height));
+                                        encoder_info.frame_width, encoder_info.frame_height,
-        // qcamera encoder
+                                        encoder_info.publish_name));
-        if (cam_info.has_qcamera) {
-          encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                        qcam_info.fps, qcam_info.bitrate,
-                                        qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-                                        qcam_info.frame_width, qcam_info.frame_height));
         }
       } else {
         LOGE("not initting empty encoder");
@@ -85,7 +80,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
       // detect loop around and drop the frames
       if (buf->get_frame_id() != extra.frame_id) {
         if (!lagging) {
-          LOGE("encoder %s lag  buffer id: %d  extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id);
+          LOGE("encoder %s lag  buffer id: %d  extra id: %d", cam_info.encoder_infos[0].filename, buf->get_frame_id(), extra.frame_id);
           lagging = true;
         }
         continue;

system/loggerd/loggerd.cc

@@ -58,15 +58,13 @@ struct RemoteEncoder {
   bool seen_first_packet = false;
 };
 
-int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) {
+int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, EncoderInfo encoder_info) {
-  const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] :
-    ((name == "wideRoadEncodeData") ? cameras_logged[2] :
-    ((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0]));
   int bytes_count = 0;
 
   // extract the message
   capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
   auto event = cmsg.getRoot<cereal::Event>();
+  // TODO this should be dealt with generically
   auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
     ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
     ((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData()));
@@ -95,7 +93,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
         for (auto &qmsg: re.q) {
-          bytes_count += handle_encoder_msg(s, qmsg, name, re);
+          bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
         }
         re.q.clear();
       }
@@ -111,10 +109,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
           re.dropped_frames = 0;
         }
         // if we aren't actually recording, don't create the writer
-        if (cam_info.record) {
+        if (encoder_info.record) {
           re.writer.reset(new VideoWriter(s->segment_path,
-            cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+            encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-            cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType()));
+            encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
           // write the header
           auto header = edata.getHeader();
           re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
@@ -142,6 +140,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
     MessageBuilder bmsg;
     auto evt = bmsg.initEvent(event.getValid());
     evt.setLogMonoTime(event.getLogMonoTime());
+    // TODO this should be dealt with generically
     if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); }
     if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); }
     if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); }
@@ -211,11 +210,12 @@ void loggerd_thread() {
   logger_rotate(&s);
   Params().put("CurrentRoute", s.logger.route_name);
 
-  // init encoders
+  std::map<std::string, EncoderInfo> encoder_infos_dict;
-  s.last_camera_seen_tms = millis_since_boot();
   for (const auto &cam : cameras_logged) {
+    for (const auto &encoder_info: cam.encoder_infos) {
+      encoder_infos_dict[encoder_info.publish_name] = encoder_info;
       s.max_waiting++;
-    if (cam.has_qcamera) { s.max_waiting++; }
+    }
   }
 
   uint64_t msg_count = 0, bytes_count = 0;
@@ -234,7 +234,7 @@ void loggerd_thread() {
 
         if (qs.encoder) {
           s.last_camera_seen_tms = millis_since_boot();
-          bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock]);
+          bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock], encoder_infos_dict[qs.name]);
         } else {
           logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
           bytes_count += msg->getSize();

system/loggerd/loggerd.h

@@ -42,62 +42,67 @@ const int DCAM_BITRATE = MAIN_BITRATE;
 const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
 const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
 
-struct LogCameraInfo {
+class EncoderInfo {
-  CameraType type;
+public:
+  const char *publish_name;
   const char *filename;
+  bool record = true;
+  int frame_width = 1928;
+  int frame_height = 1208;
+  int fps = MAIN_FPS;
+  int bitrate = MAIN_BITRATE;
+  cereal::EncodeIndex::Type encode_type = cereal::EncodeIndex::Type::FULL_H_E_V_C;
+};
+
+class LogCameraInfo {
+public:
+  int fps = MAIN_FPS;
+  CameraType type;
   VisionStreamType stream_type;
-  int frame_width, frame_height;
+  std::vector<EncoderInfo> encoder_infos;
-  int fps;
-  int bitrate;
-  bool is_h265;
-  bool has_qcamera;
-  bool record;
 };
 
-const LogCameraInfo cameras_logged[] = {
+const EncoderInfo main_road_encoder_info = {
-  {
+  .publish_name = "roadEncodeData",
-    .type = RoadCam,
-    .stream_type = VISION_STREAM_ROAD,
   .filename = "fcamera.hevc",
-    .fps = MAIN_FPS,
+};
-    .bitrate = MAIN_BITRATE,
+const EncoderInfo main_wide_road_encoder_info = {
-    .is_h265 = true,
+  .publish_name = "wideRoadEncodeData",
-    .has_qcamera = true,
+  .filename = "ecamera.hevc",
-    .record = true,
+};
-    .frame_width = 1928,
+const EncoderInfo main_driver_encoder_info = {
-    .frame_height = 1208,
+   .publish_name = "driverEncodeData",
-  },
-  {
-    .type = DriverCam,
-    .stream_type = VISION_STREAM_DRIVER,
   .filename = "dcamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = DCAM_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = false,
   .record = Params().getBool("RecordFront"),
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
-  {
-    .type = WideRoadCam,
-    .stream_type = VISION_STREAM_WIDE_ROAD,
-    .filename = "ecamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = MAIN_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = false,
-    .record = true,
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
 };
-const LogCameraInfo qcam_info = {
+
+const EncoderInfo qcam_encoder_info = {
+  .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
-  .fps = MAIN_FPS,
   .bitrate = 256000,
-  .is_h265 = false,
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
-  .record = true,
   .frame_width = 526,
   .frame_height = 330,
 };
+
+
+const LogCameraInfo road_camera_info{
+    .type = RoadCam,
+    .stream_type = VISION_STREAM_ROAD,
+    .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
+    };
+
+const LogCameraInfo wide_road_camera_info{
+    .type = WideRoadCam,
+    .stream_type = VISION_STREAM_WIDE_ROAD,
+   .encoder_infos = {main_wide_road_encoder_info}
+    };
+  
+const LogCameraInfo driver_camera_info{
+    .type = DriverCam,
+    .stream_type = VISION_STREAM_DRIVER,
+    .encoder_infos = {main_driver_encoder_info}
+    };
+
+const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
+