update compressed vipc to function on packets

old-commit-hash: dded24662f

tools/camerastream/compressed_vipc.py

@@ -1,120 +1,101 @@
 #!/usr/bin/env python3
 import os
 import sys
+import argparse
 import numpy as np
 import multiprocessing
+import time
 
+import cereal.messaging as messaging
 from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType  # pylint: disable=no-name-in-module, import-error
-W, H = 1928, 1208
 
+W, H = 1928, 1208
 V4L2_BUF_FLAG_KEYFRAME = 8
 
-def writer(fn, addr, sock_name):
+def decoder(addr, sock_name, vipc_server, vst, nvidia):
-  import cereal.messaging as messaging
+  print("start decoder for %s" % sock_name)
-  fifo_file = open(fn, "wb")
+  if nvidia:
+    sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
+    import PyNvCodec as nvc # pylint: disable=import-error
+
+    nvDec = nvc.PyNvDecoder(W, H, nvc.PixelFormat.NV12, nvc.CudaVideoCodec.HEVC, 0)
+    cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG)
+    conv_yuv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.YUV420, 0)
+    nvDwn_yuv = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.YUV420, 0)
+    img_yuv = np.ndarray((H*W//2*3), dtype=np.uint8)
+  else:
+    import av # pylint: disable=import-error
+    codec = av.CodecContext.create("hevc", "r")
 
   os.environ["ZMQ"] = "1"
   messaging.context = messaging.Context()
-
   sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False)
+  cnt = 0
   last_idx = -1
   seen_iframe = False
+
+  time_q = []
   while 1:
     msgs = messaging.drain_sock(sock, wait_for_one=True)
     for evt in msgs:
       evta = getattr(evt, evt.which())
-      lat = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
-      print("%2d %4d %.3f %.3f latency %.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, lat), len(evta.data), sock_name)
       if evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
-        print("DROP!")
+        print("DROP PACKET!")
       last_idx = evta.idx.encodeId
-      if evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME:
+      if not seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME):
-        fifo_file.write(evta.header)
-        seen_iframe = True
-      if not seen_iframe:
         print("waiting for iframe")
         continue
-      fifo_file.write(evta.data)
+      time_q.append(time.monotonic())
+      latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
 
-FFMPEG_OPTIONS = {"probesize": "32", "flags": "low_delay"}
+      # put in header (first)
+      if not seen_iframe:
+        if nvidia:
+          nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.header, dtype=np.uint8))
+        else:
+          codec.decode(av.packet.Packet(evta.header))
+        seen_iframe = True
 
-def decoder_nvidia(fn, vipc_server, vst, yuv=True, rgb=False):
+      if nvidia:
-  sys.path.append("/raid.dell2/PyNvCodec")
+        rawSurface = nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.data, dtype=np.uint8))
-  import PyNvCodec as nvc # pylint: disable=import-error
+        if rawSurface.Empty():
-  decoder = nvc.PyNvDecoder(fn, 0, FFMPEG_OPTIONS)
+          print("DROP SURFACE")
-  cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG)
+          continue
+        convSurface = conv_yuv.Execute(rawSurface, cc1)
+        nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
+      else:
+        frames = codec.decode(av.packet.Packet(evta.data))
+        if len(frames) == 0:
+          print("DROP SURFACE")
+          continue
+        assert len(frames) == 1
+        img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p'))
 
-  if rgb:
+      vipc_server.send(vst, img_yuv.flatten().data, cnt, 0, 0)
-    conv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.BGR, 0)
+      cnt += 1
-    nvDwn = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.BGR, 0)
-    img = np.ndarray((H,W,3), dtype=np.uint8)
 
-  if yuv:
+      pc_latency = (time.monotonic()-time_q[0])*1000
-    conv_yuv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.YUV420, 0)
+      time_q = time_q[1:]
-    nvDwn_yuv = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.YUV420, 0)
+      print("%2d %4d %.3f %.3f latency %6.2fms + %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, latency, pc_latency), len(evta.data), sock_name)
-    img_yuv = np.ndarray((H*W//2*3), dtype=np.uint8)
 
-  cnt = 0
-  while 1:
-    rawSurface = decoder.DecodeSingleSurface()
-    if rawSurface.Empty():
-      continue
-    if rgb:
-      convSurface = conv.Execute(rawSurface, cc1)
-      nvDwn.DownloadSingleSurface(convSurface, img)
-      vipc_server.send(vst, img.flatten().data, cnt, 0, 0)
-    if yuv:
-      convSurface = conv_yuv.Execute(rawSurface, cc1)
-      nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
-      vipc_server.send(vst+3, img_yuv.flatten().data, cnt, 0, 0)
-    cnt += 1
-
-def decoder_ffmpeg(fn, vipc_server, vst, yuv=True, rgb=False):
-  import av # pylint: disable=import-error
-  container = av.open(fn, options=FFMPEG_OPTIONS)
-  cnt = 0
-  for frame in container.decode(video=0):
-    if rgb:
-      img = frame.to_ndarray(format=av.video.format.VideoFormat('bgr24'))
-      vipc_server.send(vst, img.flatten().data, cnt, 0, 0)
-    if yuv:
-      img_yuv = frame.to_ndarray(format=av.video.format.VideoFormat('yuv420p'))
-      vipc_server.send(vst+3, img_yuv.flatten().data, cnt, 0, 0)
-    cnt += 1
-
-import argparse
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Decode video streams and broacast on VisionIPC')
   parser.add_argument("addr", help="Address of comma 3")
-  parser.add_argument('--pipes', action='store_true', help='Only create pipes')
   parser.add_argument('--nvidia', action='store_true', help='Use nvidia instead of ffmpeg')
-  parser.add_argument('--rgb', action='store_true', help='Also broadcast RGB')
   parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
   args = parser.parse_args()
 
   all_cams = [
-    ("roadEncodeData", VisionStreamType.VISION_STREAM_RGB_ROAD),
+    ("roadEncodeData", VisionStreamType.VISION_STREAM_ROAD),
-    ("wideRoadEncodeData", VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD),
+    ("wideRoadEncodeData", VisionStreamType.VISION_STREAM_WIDE_ROAD),
-    ("driverEncodeData", VisionStreamType.VISION_STREAM_RGB_DRIVER),
+    ("driverEncodeData", VisionStreamType.VISION_STREAM_DRIVER),
   ]
   cams = dict([all_cams[int(x)] for x in args.cams.split(",")])
 
   vipc_server = VisionIpcServer("camerad")
   for vst in cams.values():
-    if args.rgb:
+    vipc_server.create_buffers(vst, 4, False, W, H)
-      vipc_server.create_buffers(vst, 4, True, W, H)
-    vipc_server.create_buffers(vst+3, 4, False, W, H)
   vipc_server.start_listener()
 
   for k,v in cams.items():
-    FIFO_NAME = "/tmp/decodepipe_"+k
+    multiprocessing.Process(target=decoder, args=(args.addr, k, vipc_server, v, args.nvidia)).start()
-    if os.path.exists(FIFO_NAME):
-      os.unlink(FIFO_NAME)
-    os.mkfifo(FIFO_NAME)
-    multiprocessing.Process(target=writer, args=(FIFO_NAME, sys.argv[1], k)).start()
-    if args.pipes:
-      print("connect to", FIFO_NAME)
-    elif args.nvidia:
-      multiprocessing.Process(target=decoder_nvidia, args=(FIFO_NAME, vipc_server, v, True, args.rgb)).start()
-    else:
-      multiprocessing.Process(target=decoder_ffmpeg, args=(FIFO_NAME, vipc_server, v, True, args.rgb)).start()