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refactor loggerd: trigger rotate in encoder thread (#21860)

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* trigger rotate in eoncode thread

* rotate in time

* lgtm

* dcam trigger rotate on C3

* check trigger rotate field

* Use >=

* add rotator thread

* set cnt to 0

* test encodeIdx is increasing across segments

* test both segmentId and encodeId

* fix encodeIdx

* no thread needed

* add log for failed to encode

* stricter C3 test, dont check start encodeId on C2 dcam

* only update last_camera_seen_tms when considered for rotate

Co-authored-by: deanlee <deanlee3@gmail.com>
old-commit-hash: a39873872d
vw-mqb-aeb
Willem Melching 4 years ago committed by GitHub
parent 3eb667e29d
commit ae4f3c98d5
3 changed files with 121 additions and 234 deletions
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  1. 1
      selfdrive/camerad/cameras/camera_common.h
  2. 322
      selfdrive/loggerd/loggerd.cc
  3. 32
      selfdrive/loggerd/tests/test_encoder.py

1
selfdrive/camerad/cameras/camera_common.h
Unescape View File

@ -63,6 +63,7 @@ typedef struct LogCameraInfo {
bool is_h265;
bool downscale;
bool has_qcamera;
bool trigger_rotate;
} LogCameraInfo;
typedef struct FrameMetadata {

322
selfdrive/loggerd/loggerd.cc
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@ -15,6 +15,7 @@
#include <random>
#include <string>
#include <thread>
#include <unordered_map>
#include "cereal/messaging/messaging.h"
#include "cereal/services.h"
@ -59,7 +60,8 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.bitrate = MAIN_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = true
.has_qcamera = true,
.trigger_rotate = true
},
[LOG_CAMERA_ID_DCAMERA] = {
.stream_type = VISION_STREAM_YUV_FRONT,
@ -69,7 +71,8 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.bitrate = DCAM_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = false
.has_qcamera = false,
.trigger_rotate = Hardware::TICI(),
},
[LOG_CAMERA_ID_ECAMERA] = {
.stream_type = VISION_STREAM_YUV_WIDE,
@ -79,7 +82,8 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
.bitrate = MAIN_BITRATE,
.is_h265 = true,
.downscale = false,
.has_qcamera = false
.has_qcamera = false,
.trigger_rotate = true
},
[LOG_CAMERA_ID_QCAMERA] = {
.filename = "qcamera.ts",
@ -92,81 +96,27 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
},
};
class RotateState {
public:
SubSocket* fpkt_sock;
uint32_t stream_frame_id, log_frame_id, last_rotate_frame_id;
bool enabled, should_rotate, initialized;
std::atomic<bool> rotating;
std::atomic<int> cur_seg;
RotateState() : fpkt_sock(nullptr), stream_frame_id(0), log_frame_id(0),
last_rotate_frame_id(UINT32_MAX), enabled(false), should_rotate(false), initialized(false), rotating(false), cur_seg(-1) {};
void waitLogThread() {
std::unique_lock<std::mutex> lk(fid_lock);
while (stream_frame_id > log_frame_id // if the log camera is older, wait for it to catch up.
&& (stream_frame_id - log_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted)
&& !do_exit) {
cv.wait(lk);
}
}
void cancelWait() {
cv.notify_one();
}
void setStreamFrameId(uint32_t frame_id) {
fid_lock.lock();
stream_frame_id = frame_id;
fid_lock.unlock();
cv.notify_one();
}
void setLogFrameId(uint32_t frame_id) {
fid_lock.lock();
log_frame_id = frame_id;
fid_lock.unlock();
cv.notify_one();
}
void rotate() {
if (enabled) {
std::unique_lock<std::mutex> lk(fid_lock);
should_rotate = true;
last_rotate_frame_id = stream_frame_id;
}
}
void finish_rotate() {
std::unique_lock<std::mutex> lk(fid_lock);
should_rotate = false;
}
private:
std::mutex fid_lock;
std::condition_variable cv;
};
struct LoggerdState {
Context *ctx;
LoggerState logger = {};
char segment_path[4096];
int rotate_segment;
pthread_mutex_t rotate_lock;
RotateState rotate_state[LOG_CAMERA_ID_MAX-1];
std::mutex rotate_lock;
std::condition_variable rotate_cv;
std::atomic<int> rotate_segment;
std::atomic<double> last_camera_seen_tms;
std::atomic<int> waiting_rotate;
int max_waiting = 0;
double last_rotate_tms = 0.;
};
LoggerdState s;
void encoder_thread(int cam_idx) {
assert(cam_idx < LOG_CAMERA_ID_MAX-1);
LogCameraInfo &cam_info = cameras_logged[cam_idx];
RotateState &rotate_state = s.rotate_state[cam_idx];
const LogCameraInfo &cam_info = cameras_logged[cam_idx];
set_thread_name(cam_info.filename);
int cnt = 0;
int cnt = 0, cur_seg = -1;
int encode_idx = 0;
LoggerHandle *lh = NULL;
std::vector<Encoder *> encoders;
VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
@ -198,68 +148,47 @@ void encoder_thread(int cam_idx) {
while (!do_exit) {
VisionIpcBufExtra extra;
VisionBuf* buf = vipc_client.recv(&extra);
if (buf == nullptr) {
continue;
}
if (buf == nullptr) continue;
//printf("logger latency to tsEof: %f\n", (double)(nanos_since_boot() - extra.timestamp_eof) / 1000000.0);
// all the rotation stuff
{
pthread_mutex_lock(&s.rotate_lock);
pthread_mutex_unlock(&s.rotate_lock);
// wait if camera pkt id is older than stream
rotate_state.waitLogThread();
if (do_exit) break;
// rotate the encoder if the logger is on a newer segment
if (rotate_state.should_rotate) {
LOGW("camera %d rotate encoder to %s", cam_idx, s.segment_path);
if (!rotate_state.initialized) {
rotate_state.last_rotate_frame_id = extra.frame_id - 1;
rotate_state.initialized = true;
}
// get new logger handle for new segment
if (lh) {
lh_close(lh);
}
lh = logger_get_handle(&s.logger);
if (cam_info.trigger_rotate) {
s.last_camera_seen_tms = millis_since_boot();
}
// wait for all to start rotating
rotate_state.rotating = true;
for(auto &r : s.rotate_state) {
while(r.enabled && !r.rotating && !do_exit) util::sleep_for(5);
}
if (cam_info.trigger_rotate && (cnt >= SEGMENT_LENGTH * MAIN_FPS)) {
// trigger rotate and wait logger rotated to new segment
++s.waiting_rotate;
std::unique_lock lk(s.rotate_lock);
s.rotate_cv.wait(lk, [&] { return s.rotate_segment > cur_seg || do_exit; });
}
if (do_exit) break;
pthread_mutex_lock(&s.rotate_lock);
for (auto &e : encoders) {
e->encoder_close();
e->encoder_open(s.segment_path);
}
rotate_state.cur_seg = s.rotate_segment;
pthread_mutex_unlock(&s.rotate_lock);
// rotate the encoder if the logger is on a newer segment
if (s.rotate_segment > cur_seg) {
cur_seg = s.rotate_segment;
cnt = 0;
// wait for all to finish rotating
for(auto &r : s.rotate_state) {
while(r.enabled && r.cur_seg != s.rotate_segment && !do_exit) util::sleep_for(5);
}
rotate_state.rotating = false;
rotate_state.finish_rotate();
LOGW("camera %d rotate encoder to %s", cam_idx, s.segment_path);
for (auto &e : encoders) {
e->encoder_close();
e->encoder_open(s.segment_path);
}
if (lh) {
lh_close(lh);
}
lh = logger_get_handle(&s.logger);
}
rotate_state.setStreamFrameId(extra.frame_id);
// encode a frame
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);
}
// publish encode index
if (i == 0 && out_id != -1) {
// publish encode index
MessageBuilder msg;
// this is really ugly
auto eidx = cam_idx == LOG_CAMERA_ID_DCAMERA ? msg.initEvent().initDriverEncodeIdx() :
@ -272,8 +201,8 @@ void encoder_thread(int cam_idx) {
} else {
eidx.setType(cam_idx == LOG_CAMERA_ID_DCAMERA ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
}
eidx.setEncodeId(cnt);
eidx.setSegmentNum(rotate_state.cur_seg);
eidx.setEncodeId(encode_idx);
eidx.setSegmentNum(cur_seg);
eidx.setSegmentId(out_id);
if (lh) {
// TODO: this should read cereal/services.h for qlog decimation
@ -284,6 +213,7 @@ void encoder_thread(int cam_idx) {
}
cnt++;
encode_idx++;
}
if (lh) {
@ -311,6 +241,33 @@ void clear_locks() {
ftw(LOG_ROOT.c_str(), clear_locks_fn, 16);
}
void logger_rotate() {
{
std::unique_lock lk(s.rotate_lock);
int segment = -1;
int err = logger_next(&s.logger, LOG_ROOT.c_str(), s.segment_path, sizeof(s.segment_path), &segment);
assert(err == 0);
s.rotate_segment = segment;
s.waiting_rotate = 0;
s.last_rotate_tms = millis_since_boot();
}
s.rotate_cv.notify_all();
LOGW((s.logger.part == 0) ? "logging to %s" : "rotated to %s", s.segment_path);
}
void rotate_if_needed() {
if (s.waiting_rotate == s.max_waiting) {
logger_rotate();
}
double tms = millis_since_boot();
if ((tms - s.last_rotate_tms) > SEGMENT_LENGTH * 1000 &&
(tms - s.last_camera_seen_tms) > NO_CAMERA_PATIENCE) {
LOGW("no camera packet seen. auto rotating");
logger_rotate();
}
}
} // namespace
int main(int argc, char** argv) {
@ -322,11 +279,10 @@ int main(int argc, char** argv) {
typedef struct QlogState {
int counter, freq;
} QlogState;
std::map<SubSocket*, QlogState> qlog_states;
std::unordered_map<SubSocket*, QlogState> qlog_states;
s.ctx = Context::create();
Poller * poller = Poller::create();
std::vector<SubSocket*> socks;
// subscribe to all socks
for (const auto& it : services) {
@ -335,13 +291,6 @@ int main(int argc, char** argv) {
SubSocket * sock = SubSocket::create(s.ctx, it.name);
assert(sock != NULL);
poller->registerSocket(sock);
socks.push_back(sock);
for (int cid=0; cid<=MAX_CAM_IDX; cid++) {
if (std::string(it.name) == cameras_logged[cid].frame_packet_name) {
s.rotate_state[cid].fpkt_sock = sock;
}
}
qlog_states[sock] = {.counter = 0, .freq = it.decimation};
}
@ -349,124 +298,57 @@ int main(int argc, char** argv) {
// init logger
logger_init(&s.logger, "rlog", true);
logger_rotate();
params.put("CurrentRoute", s.logger.route_name);
// init encoders
pthread_mutex_init(&s.rotate_lock, NULL);
s.last_camera_seen_tms = millis_since_boot();
// TODO: create these threads dynamically on frame packet presence
std::vector<std::thread> encoder_threads;
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_FCAMERA));
s.rotate_state[LOG_CAMERA_ID_FCAMERA].enabled = true;
if (cameras_logged[LOG_CAMERA_ID_FCAMERA].trigger_rotate) {
s.max_waiting += 1;
}
if (!Hardware::PC() && params.getBool("RecordFront")) {
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_DCAMERA));
s.rotate_state[LOG_CAMERA_ID_DCAMERA].enabled = true;
if (cameras_logged[LOG_CAMERA_ID_DCAMERA].trigger_rotate) {
s.max_waiting += 1;
}
}
if (Hardware::TICI()) {
encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_ECAMERA));
s.rotate_state[LOG_CAMERA_ID_ECAMERA].enabled = true;
if (cameras_logged[LOG_CAMERA_ID_ECAMERA].trigger_rotate) {
s.max_waiting += 1;
}
}
uint64_t msg_count = 0;
uint64_t bytes_count = 0;
AlignedBuffer aligned_buf;
double start_ts = seconds_since_boot();
double last_rotate_tms = millis_since_boot();
double last_camera_seen_tms = millis_since_boot();
uint64_t msg_count = 0, bytes_count = 0;
double start_ts = millis_since_boot();
while (!do_exit) {
// TODO: fix msgs from the first poll getting dropped
// poll for new messages on all sockets
for (auto sock : poller->poll(1000)) {
// drain socket
Message * last_msg = nullptr;
while (!do_exit) {
Message * msg = sock->receive(true);
if (!msg) {
break;
}
delete last_msg;
last_msg = msg;
QlogState& qs = qlog_states[sock];
logger_log(&s.logger, (uint8_t*)msg->getData(), msg->getSize(), qs.counter == 0 && qs.freq != -1);
if (qs.freq != -1) {
qs.counter = (qs.counter + 1) % qs.freq;
}
QlogState &qs = qlog_states[sock];
Message *msg = nullptr;
while (!do_exit && (msg = sock->receive(true))) {
const bool in_qlog = qs.freq != -1 && (qs.counter++ % qs.freq == 0);
logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
bytes_count += msg->getSize();
if ((++msg_count % 1000) == 0) {
double ts = seconds_since_boot();
LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count * 1.0 / (ts - start_ts), bytes_count * 0.001 / (ts - start_ts));
}
}
delete msg;
if (last_msg) {
int fpkt_id = -1;
for (int cid = 0; cid <=MAX_CAM_IDX; cid++) {
if (sock == s.rotate_state[cid].fpkt_sock) {
fpkt_id=cid;
break;
}
}
if (fpkt_id >= 0) {
// track camera frames to sync to encoder
// only process last frame
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(last_msg));
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
if (fpkt_id == LOG_CAMERA_ID_FCAMERA) {
s.rotate_state[fpkt_id].setLogFrameId(event.getRoadCameraState().getFrameId());
} else if (fpkt_id == LOG_CAMERA_ID_DCAMERA) {
s.rotate_state[fpkt_id].setLogFrameId(event.getDriverCameraState().getFrameId());
} else if (fpkt_id == LOG_CAMERA_ID_ECAMERA) {
s.rotate_state[fpkt_id].setLogFrameId(event.getWideRoadCameraState().getFrameId());
}
last_camera_seen_tms = millis_since_boot();
}
}
delete last_msg;
}
rotate_if_needed();
bool new_segment = s.logger.part == -1;
if (s.logger.part > -1) {
double tms = millis_since_boot();
if (tms - last_camera_seen_tms <= NO_CAMERA_PATIENCE && encoder_threads.size() > 0) {
new_segment = true;
for (auto &r : s.rotate_state) {
// this *should* be redundant on tici since all camera frames are synced
new_segment &= (((r.stream_frame_id >= r.last_rotate_frame_id + SEGMENT_LENGTH * MAIN_FPS) &&
(!r.should_rotate) && (r.initialized)) ||
(!r.enabled));
if (!Hardware::TICI()) break; // only look at fcamera frame id if not QCOM2
}
} else {
if (tms - last_rotate_tms > SEGMENT_LENGTH * 1000) {
new_segment = true;
LOGW("no camera packet seen. auto rotated");
if ((++msg_count % 1000) == 0) {
double seconds = (millis_since_boot() - start_ts) / 1000.0;
LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds);
}
}
}
// rotate to new segment
if (new_segment) {
pthread_mutex_lock(&s.rotate_lock);
last_rotate_tms = millis_since_boot();
int err = logger_next(&s.logger, LOG_ROOT.c_str(), s.segment_path, sizeof(s.segment_path), &s.rotate_segment);
assert(err == 0);
LOGW((s.logger.part == 0) ? "logging to %s" : "rotated to %s", s.segment_path);
// rotate encoders
for (auto &r : s.rotate_state) r.rotate();
pthread_mutex_unlock(&s.rotate_lock);
}
}
LOGW("closing encoders");
for (auto &r : s.rotate_state) r.cancelWait();
s.rotate_cv.notify_all();
for (auto &t : encoder_threads) t.join();
LOGW("closing logger");
@ -479,7 +361,7 @@ int main(int argc, char** argv) {
}
// messaging cleanup
for (auto sock : socks) delete sock;
for (auto &[sock, qs] : qlog_states) delete sock;
delete poller;
delete s.ctx;

32
selfdrive/loggerd/tests/test_encoder.py
Unescape View File

@ -88,6 +88,8 @@ class TestEncoder(unittest.TestCase):
if not record_front and "dcamera" in camera:
continue
eon_dcam = EON and (camera == 'dcamera.hevc')
file_path = f"{route_prefix_path}--{i}/{camera}"
# check file size
@ -103,30 +105,32 @@ class TestEncoder(unittest.TestCase):
cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
expected_frames = fps * SEGMENT_LENGTH
frame_tolerance = 1 if (EON and camera == 'dcamera.hevc') else 0
frame_tolerance = 1 if eon_dcam else 0
probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
frame_count = int(probe.split('\n')[0].strip())
counts.append(frame_count)
if EON:
self.assertTrue(abs(expected_frames - frame_count) <= frame_tolerance,
f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
else:
# loggerd waits for the slowest camera, so check count is at least the expected count,
# then check the min of the frame counts is exactly the expected frame count
self.assertTrue(frame_count >= expected_frames,
f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
self.assertTrue(abs(expected_frames - frame_count) <= frame_tolerance,
f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
# Check encodeIdx
if encode_idx_name is not None:
rlog_path = f"{route_prefix_path}--{i}/rlog.bz2"
idxs = [getattr(m, encode_idx_name).segmentId for m in LogReader(rlog_path) if m.which() == encode_idx_name]
self.assertEqual(frame_count, len(idxs))
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]
# Check frame count
self.assertEqual(frame_count, len(segment_idxs))
self.assertEqual(frame_count, len(encode_idxs))
# Check for duplicates or skips
self.assertEqual(0, idxs[0])
self.assertEqual(len(idxs)-1, idxs[-1])
self.assertEqual(len(set(idxs)), len(idxs))
self.assertEqual(0, segment_idxs[0])
self.assertEqual(len(set(segment_idxs)), len(segment_idxs))
if not eon_dcam:
self.assertEqual(expected_frames * i, encode_idxs[0])
self.assertEqual(len(set(encode_idxs)), len(encode_idxs))
if TICI:
expected_frames = fps * SEGMENT_LENGTH

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