openpilot_comma/selfdrive/loggerd/v4l_encoder.cc

#include <cassert>
#include <sys/ioctl.h>
#include <poll.h>

#include "selfdrive/loggerd/v4l_encoder.h"
#include "selfdrive/common/util.h"
#include "selfdrive/common/timing.h"

#include "libyuv.h"
#include "msm_media_info.h"

// has to be in this order
#include "v4l2-controls.h"
#include <linux/videodev2.h>
#define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
#define V4L2_QCOM_BUF_FLAG_EOS 0x02000000

// echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;

#define checked_ioctl(x,y,z) { int _ret = HANDLE_EINTR(ioctl(x,y,z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); }

static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) {
  v4l2_plane plane = {0};
  v4l2_buffer v4l_buf = {
    .type = buf_type,
    .memory = V4L2_MEMORY_USERPTR,
    .m = { .planes = &plane, },
    .length = 1,
  };
  checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf);

  if (index) *index = v4l_buf.index;
  if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused;
  if (flags) *flags = v4l_buf.flags;
  if (timestamp) *timestamp = v4l_buf.timestamp;
  assert(v4l_buf.m.planes[0].data_offset == 0);
}

static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={0}) {
  v4l2_plane plane = {
    .length = (unsigned int)buf->len,
    .m = { .userptr = (unsigned long)buf->addr, },
    .reserved = {(unsigned int)buf->fd}
  };

  v4l2_buffer v4l_buf = {
    .type = buf_type,
    .index = index,
    .memory = V4L2_MEMORY_USERPTR,
    .m = { .planes = &plane, },
    .length = 1,
    .bytesused = 0,
    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
    .timestamp = timestamp
  };

  checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf);
}

static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
  struct v4l2_requestbuffers reqbuf = {
    .type = buf_type,
    .memory = V4L2_MEMORY_USERPTR,
    .count = count
  };
  checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf);
}

// TODO: writing should be moved to loggerd
void V4LEncoder::write_handler(V4LEncoder *e, const char *path) {
  VideoWriter writer(path, e->filename, !e->h265, e->width, e->height, e->fps, e->h265, false);

  bool first = true;
  kj::Array<capnp::word>* out_buf;
  while ((out_buf = e->to_write.pop())) {
    capnp::FlatArrayMessageReader cmsg(*out_buf);
    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();

    auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() :
      ((e->type == WideRoadCam) ? event.getWideRoadEncodeData() :
      (e->h265 ? event.getRoadEncodeData() : event.getQRoadEncodeData()));
    auto idx = edata.getIdx();
    auto flags = idx.getFlags();

    if (first) {
      assert(flags & V4L2_BUF_FLAG_KEYFRAME);
      auto header = edata.getHeader();
      writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
      first = false;
    }

    // dangerous cast from const, but should be fine
    auto data = edata.getData();
    if (data.size() > 0) {
      writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
    }

    // free the data
    delete out_buf;
  }

  // VideoWriter is freed on out of scope
}

void V4LEncoder::dequeue_handler(V4LEncoder *e) {
  std::string dequeue_thread_name = "dq-"+std::string(e->filename);
  util::set_thread_name(dequeue_thread_name.c_str());

  e->segment_num++;
  uint32_t idx = -1;
  bool exit = false;

  // POLLIN is capture, POLLOUT is frame
  struct pollfd pfd;
  pfd.events = POLLIN | POLLOUT;
  pfd.fd = e->fd;

  // save the header
  kj::Array<capnp::byte> header;

  while (!exit) {
    int rc = poll(&pfd, 1, 1000);
    if (!rc) { LOGE("encoder dequeue poll timeout"); continue; }

    if (env_debug_encoder >= 2) {
      printf("%20s poll %x at %.2f ms\n", e->filename, pfd.revents, millis_since_boot());
    }

    int frame_id = -1;
    if (pfd.revents & POLLIN) {
      unsigned int bytesused, flags, index;
      struct timeval timestamp;
      dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, &index, &bytesused, &flags, &timestamp);
      e->buf_out[index].sync(VISIONBUF_SYNC_FROM_DEVICE);
      uint8_t *buf = (uint8_t*)e->buf_out[index].addr;
      int64_t ts = timestamp.tv_sec * 1000000 + timestamp.tv_usec;

      // eof packet, we exit
      if (flags & V4L2_QCOM_BUF_FLAG_EOS) {
        if (e->write) e->to_write.push(NULL);
        exit = true;
      } else if (flags & V4L2_QCOM_BUF_FLAG_CODECCONFIG) {
        // save header
        header = kj::heapArray<capnp::byte>(buf, bytesused);
      } else {
        VisionIpcBufExtra extra = e->extras.pop();
        assert(extra.timestamp_eof/1000 == ts); // stay in sync

        frame_id = extra.frame_id;
        ++idx;

        // broadcast packet
        MessageBuilder msg;
        auto event = msg.initEvent(true);
        auto edat = (e->type == DriverCam) ? event.initDriverEncodeData() :
          ((e->type == WideRoadCam) ? event.initWideRoadEncodeData() :
          (e->h265 ? event.initRoadEncodeData() : event.initQRoadEncodeData()));
        auto edata = edat.initIdx();
        edata.setFrameId(extra.frame_id);
        edata.setTimestampSof(extra.timestamp_sof);
        edata.setTimestampEof(extra.timestamp_eof);
        edata.setType(e->h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264);
        edata.setEncodeId(idx);
        edata.setSegmentNum(e->segment_num);
        edata.setSegmentId(idx);
        edata.setFlags(flags);
        edata.setLen(bytesused);
        edat.setData(kj::arrayPtr<capnp::byte>(buf, bytesused));
        if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);

        auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
        auto bytes = words->asBytes();
        e->pm->send(e->service_name, bytes.begin(), bytes.size());
        if (e->write) {
          e->to_write.push(words);
        } else {
          delete words;
        }
      }

      if (env_debug_encoder) {
        printf("%20s got(%d) %6d bytes flags %8x idx %4d id %8d ts %ld lat %.2f ms (%lu frames free)\n",
          e->filename, index, bytesused, flags, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
      }

      // requeue the buffer
      queue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, index, &e->buf_out[index]);
    }

    if (pfd.revents & POLLOUT) {
      unsigned int index;
      dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, &index);
      e->free_buf_in.push(index);
    }
  }
}

V4LEncoder::V4LEncoder(
  const char* filename, CameraType type, int in_width, int in_height,
  int fps, int bitrate, bool h265, int out_width, int out_height, bool write)
  : type(type), in_width_(in_width), in_height_(in_height),
    filename(filename), h265(h265),
    width(out_width), height(out_height), fps(fps), write(write) {
  fd = open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK);
  assert(fd >= 0);

  struct v4l2_capability cap;
  checked_ioctl(fd, VIDIOC_QUERYCAP, &cap);
  LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd);
  assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
  assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);

  struct v4l2_format fmt_out = {
    .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE,
    .fmt = {
      .pix_mp = {
        // downscales are free with v4l
        .width = (unsigned int)out_width,
        .height = (unsigned int)out_height,
        .pixelformat = h265 ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
        .field = V4L2_FIELD_ANY,
        .colorspace = V4L2_COLORSPACE_DEFAULT,
      }
    }
  };
  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out);

  v4l2_streamparm streamparm = {
    .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
    .parm = {
      .output = {
        // TODO: more stuff here? we don't know
        .timeperframe = {
          .numerator = 1,
          .denominator = 20
        }
      }
    }
  };
  checked_ioctl(fd, VIDIOC_S_PARM, &streamparm);

  struct v4l2_format fmt_in = {
    .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
    .fmt = {
      .pix_mp = {
        .width = (unsigned int)in_width,
        .height = (unsigned int)in_height,
        .pixelformat = V4L2_PIX_FMT_NV12,
        .field = V4L2_FIELD_ANY,
        .colorspace = V4L2_COLORSPACE_470_SYSTEM_BG,
      }
    }
  };
  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in);

  LOGD("in buffer size %d, out buffer size %d",
    fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage,
    fmt_out.fmt.pix_mp.plane_fmt[0].sizeimage);

  // shared ctrls
  {
    struct v4l2_control ctrls[] = {
      { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE},
      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = bitrate},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
    };
    for (auto ctrl : ctrls) {
      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
    }
  }

  if (h265) {
    struct v4l2_control ctrls[] = {
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
    };
    for (auto ctrl : ctrls) {
      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
    }
  } else {
    struct v4l2_control ctrls[] = {
      { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
      { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 14},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
      { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
      { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
      { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0},
      { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA, .value = 0},
      { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA, .value = 0},
      { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
    };
    for (auto ctrl : ctrls) {
      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
    }
  }

  // allocate buffers
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, BUF_OUT_COUNT);
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, BUF_IN_COUNT);

  // start encoder
  v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
  buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);

  // queue up output buffers
  for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) {
    buf_out[i].allocate(fmt_out.fmt.pix_mp.plane_fmt[0].sizeimage);
    queue_buffer(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, i, &buf_out[i]);
  }
  // queue up input buffers
  for (unsigned int i = 0; i < BUF_IN_COUNT; i++) {
    buf_in[i].allocate(fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage);
    free_buf_in.push(i);
  }

  // publish
  service_name = this->type == DriverCam ? "driverEncodeData" :
    (this->type == WideRoadCam ? "wideRoadEncodeData" :
    (this->h265 ? "roadEncodeData" : "qRoadEncodeData"));
  pm.reset(new PubMaster({service_name}));
}


void V4LEncoder::encoder_open(const char* path) {
  dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this);
  if (this->write) write_handler_thread = std::thread(V4LEncoder::write_handler, this, path);
  this->is_open = true;
  this->counter = 0;
}

int V4LEncoder::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const uint8_t *v_ptr,
                  int in_width, int in_height, VisionIpcBufExtra *extra) {
  assert(in_width == in_width_);
  assert(in_height == in_height_);
  assert(is_open);

  // reserve buffer
  int buffer_in = free_buf_in.pop();

  uint8_t *in_y_ptr = (uint8_t*)buf_in[buffer_in].addr;
  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, in_width);
  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, in_width);
  uint8_t *in_uv_ptr = in_y_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, in_height));

  // GRRR COPY
  int err = libyuv::I420ToNV12(y_ptr, in_width,
                   u_ptr, in_width/2,
                   v_ptr, in_width/2,
                   in_y_ptr, in_y_stride,
                   in_uv_ptr, in_uv_stride,
                   in_width, in_height);
  assert(err == 0);

  struct timeval timestamp {
    .tv_sec = (long)(extra->timestamp_eof/1000000000),
    .tv_usec = (long)((extra->timestamp_eof/1000) % 1000000),
  };

  // push buffer
  extras.push(*extra);
  buf_in[buffer_in].sync(VISIONBUF_SYNC_TO_DEVICE);
  queue_buffer(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, buffer_in, &buf_in[buffer_in], timestamp);

  return this->counter++;
}

void V4LEncoder::encoder_close() {
  if (this->is_open) {
    // pop all the frames before closing, then put the buffers back
    for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.pop();
    for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i);
    // no frames, stop the encoder
    struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP };
    checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd);
    // join waits for V4L2_QCOM_BUF_FLAG_EOS
    dequeue_handler_thread.join();
    assert(extras.empty());
    if (this->write) write_handler_thread.join();
    assert(to_write.empty());
  }
  this->is_open = false;
}

V4LEncoder::~V4LEncoder() {
  encoder_close();
  v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0);
  buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
  request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0);
  close(fd);
}