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Fix OMX error on loggerd rotation when using multiple cameras (#1953)

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* cherry pick from f8745d3002

* update cereal

* missed this line

* add enum

* Update selfdrive/loggerd/loggerd.cc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/loggerd/loggerd.cc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* use same logroot

Co-authored-by: Tici <robbe@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3014280d1a
commatwo_master
ZwX1616 5 years ago committed by GitHub
parent 4f4751ec35
commit 06439bef18
3 changed files with 109 additions and 27 deletions
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  1. 2
      selfdrive/common/visionipc.h
  2. 17
      selfdrive/loggerd/encoder.c
  3. 117
      selfdrive/loggerd/loggerd.cc

2
selfdrive/common/visionipc.h
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@ -23,8 +23,10 @@ typedef enum VisionIPCPacketType {
typedef enum VisionStreamType {
VISION_STREAM_RGB_BACK,
VISION_STREAM_RGB_FRONT,
VISION_STREAM_RGB_WIDE,
VISION_STREAM_YUV,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_YUV_WIDE,
VISION_STREAM_MAX,
} VisionStreamType;

17
selfdrive/loggerd/encoder.c
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@ -474,17 +474,16 @@ int encoder_encode_frame(EncoderState *s,
// this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
// THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
pthread_mutex_unlock(&s->lock);
//pthread_mutex_unlock(&s->lock);
OMX_BUFFERHEADERTYPE* in_buf = queue_pop(&s->free_in);
pthread_mutex_lock(&s->lock);
if (s->rotating) {
encoder_close(s);
encoder_open(s, s->next_path);
s->segment = s->next_segment;
s->rotating = false;
}
//pthread_mutex_lock(&s->lock);
// if (s->rotating) {
// encoder_close(s);
// encoder_open(s, s->next_path);
// s->segment = s->next_segment;
// s->rotating = false;
// }
int ret = s->counter;
uint8_t *in_buf_ptr = in_buf->pBuffer;

117
selfdrive/loggerd/loggerd.cc
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@ -10,6 +10,7 @@
#include <inttypes.h>
#include <libyuv.h>
#include <sys/resource.h>
#include <pthread.h>
#include <string>
#include <iostream>
@ -51,9 +52,22 @@
#include "cereal/gen/cpp/log.capnp.h"
#define CAM_IDX_FCAM 0
#define CAM_IDX_DCAM 1
#define CAM_IDX_ECAM 2
#define CAMERA_FPS 20
#define SEGMENT_LENGTH 60
#define MAIN_BITRATE 5000000
#ifndef QCOM2
#define DCAM_BITRATE 2500000
#else
#define DCAM_BITRATE MAIN_BITRATE
#endif
#define LOG_ROOT "/data/media/0/realdata"
#define ENABLE_LIDAR 0
#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
@ -84,21 +98,35 @@ struct LoggerdState {
uint32_t last_frame_id;
uint32_t rotate_last_frame_id;
int rotate_segment;
int rotate_seq_id;
pthread_mutex_t rotate_lock;
int num_encoder;
int should_close;
int finish_close;
};
LoggerdState s;
#ifndef DISABLE_ENCODER
void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
int err;
if (front) {
// 0:f, 1:d, 2:e
if (cam_idx == CAM_IDX_DCAM) {
// TODO: add this back
#ifndef QCOM2
std::vector<char> value = read_db_bytes("RecordFront");
if (value.size() == 0 || value[0] != '1') return;
LOGW("recording front camera");
#endif
set_thread_name("FrontCameraEncoder");
} else {
} else if (cam_idx == CAM_IDX_FCAM) {
set_thread_name("RearCameraEncoder");
} else if (cam_idx == CAM_IDX_ECAM) {
set_thread_name("WideCameraEncoder");
} else {
LOGE("unexpected camera index provided");
assert(false);
}
VisionStream stream;
@ -111,17 +139,19 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
int encoder_segment = -1;
int cnt = 0;
PubSocket *idx_sock = PubSocket::create(s.ctx, front ? "frontEncodeIdx" : "encodeIdx");
PubSocket *idx_sock = PubSocket::create(s.ctx, cam_idx == CAM_IDX_DCAM ? "frontEncodeIdx" : (cam_idx == CAM_IDX_ECAM ? "wideEncodeIdx" : "encodeIdx"));
assert(idx_sock != NULL);
LoggerHandle *lh = NULL;
while (!do_exit) {
VisionStreamBufs buf_info;
if (front) {
if (cam_idx == CAM_IDX_DCAM) {
err = visionstream_init(&stream, VISION_STREAM_YUV_FRONT, false, &buf_info);
} else {
} else if (cam_idx == CAM_IDX_FCAM) {
err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
} else if (cam_idx == CAM_IDX_ECAM) {
err = visionstream_init(&stream, VISION_STREAM_YUV_WIDE, false, &buf_info);
}
if (err != 0) {
LOGD("visionstream connect fail");
@ -131,11 +161,11 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
if (!encoder_inited) {
LOGD("encoder init %dx%d", buf_info.width, buf_info.height);
encoder_init(&encoder, front ? "dcamera.hevc" : "fcamera.hevc", buf_info.width, buf_info.height, CAMERA_FPS, front ? 2500000 : 5000000, true, false);
encoder_init(&encoder, cam_idx == CAM_IDX_DCAM ? "dcamera.hevc" : (cam_idx == CAM_IDX_ECAM ? "ecamera.hevc" : "fcamera.hevc"), buf_info.width, buf_info.height, CAMERA_FPS, cam_idx == CAM_IDX_DCAM ? DCAM_BITRATE:MAIN_BITRATE, true, false);
#ifndef QCOM2
// TODO: fix qcamera on tici
if (!front) {
if (cam_idx == CAM_IDX_FCAM) {
encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true);
has_encoder_alt = true;
}
@ -176,19 +206,20 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
{
// all the rotation stuff
bool should_rotate = false;
std::unique_lock<std::mutex> lk(s.lock);
if (!front) {
if (cam_idx == CAM_IDX_FCAM) { // TODO: should wait for three cameras on tici?
// wait if log camera is older on back camera
while ( extra.frame_id > s.last_frame_id //if the log camera is older, wait for it to catch up.
&& (extra.frame_id-s.last_frame_id) < 8 // but if its too old then there probably was a discontinuity (visiond restarted)
&& !do_exit) {
s.cv.wait(lk);
}
should_rotate = extra.frame_id > s.rotate_last_frame_id && encoder_segment < s.rotate_segment;
should_rotate = extra.frame_id > s.rotate_last_frame_id && encoder_segment < s.rotate_segment && s.rotate_seq_id == cam_idx;
} else {
// front camera is best effort
should_rotate = encoder_segment < s.rotate_segment;
should_rotate = encoder_segment < s.rotate_segment && s.rotate_seq_id == cam_idx;
}
if (do_exit) break;
@ -197,6 +228,8 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
LOG("rotate encoder to %s", s.segment_path);
encoder_rotate(&encoder, s.segment_path, s.rotate_segment);
s.rotate_seq_id = (cam_idx + 1) % s.num_encoder;
if (has_encoder_alt) {
encoder_rotate(&encoder_alt, s.segment_path, s.rotate_segment);
}
@ -211,8 +244,37 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
}
lh = logger_get_handle(&s.logger);
}
}
if (encoder.rotating) {
pthread_mutex_lock(&s.rotate_lock);
s.should_close += 1;
pthread_mutex_unlock(&s.rotate_lock);
while(s.should_close > 0 && s.should_close < s.num_encoder) {
// printf("%d waiting for others to reach close, %d/%d \n", cam_idx, s.should_close, s.num_encoder);
s.cv.wait(lk);
}
pthread_mutex_lock(&s.rotate_lock);
if (s.should_close == s.num_encoder) {
s.should_close = 1 - s.num_encoder;
} else {
s.should_close += 1;
}
encoder_close(&encoder);
encoder_open(&encoder, encoder.next_path);
encoder.segment = encoder.next_segment;
encoder.rotating = false;
s.finish_close += 1;
pthread_mutex_unlock(&s.rotate_lock);
while(s.finish_close > 0 && s.finish_close < s.num_encoder) {
// printf("%d waiting for others to actually close, %d/%d \n", cam_idx, s.finish_close, s.num_encoder);
s.cv.wait(lk);
}
s.finish_close = 0;
}
}
{
// encode hevc
int out_segment = -1;
@ -220,7 +282,6 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
y, u, v,
buf_info.width, buf_info.height,
&out_segment, &extra);
if (has_encoder_alt) {
int out_segment_alt = -1;
encoder_encode_frame(&encoder_alt,
@ -235,13 +296,18 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
event.setLogMonoTime(nanos_since_boot());
auto eidx = event.initEncodeIdx();
eidx.setFrameId(extra.frame_id);
eidx.setType(front ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
#ifdef QCOM2
eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
#else
eidx.setType(cam_idx == CAM_IDX_DCAM ? cereal::EncodeIndex::Type::FRONT : cereal::EncodeIndex::Type::FULL_H_E_V_C);
#endif
eidx.setEncodeId(cnt);
eidx.setSegmentNum(out_segment);
eidx.setSegmentId(out_id);
auto words = capnp::messageToFlatArray(msg);
auto bytes = words.asBytes();
if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
printf("err sending encodeIdx pkt: %s\n", strerror(errno));
}
@ -607,13 +673,25 @@ int main(int argc, char** argv) {
double start_ts = seconds_since_boot();
double last_rotate_ts = start_ts;
s.rotate_seq_id = 0;
s.should_close = 0;
s.finish_close = 0;
s.num_encoder = 0;
pthread_mutex_init(&s.rotate_lock, NULL);
#ifndef DISABLE_ENCODER
// rear camera
std::thread encoder_thread_handle(encoder_thread, is_streaming, false, false);
std::thread encoder_thread_handle(encoder_thread, is_streaming, false, CAM_IDX_FCAM);
s.num_encoder += 1;
// front camera
std::thread front_encoder_thread_handle(encoder_thread, false, false, true);
std::thread front_encoder_thread_handle(encoder_thread, false, false, CAM_IDX_DCAM);
s.num_encoder += 1;
#ifdef QCOM2
// wide camera
std::thread wide_encoder_thread_handle(encoder_thread, false, false, CAM_IDX_ECAM);
s.num_encoder += 1;
#endif
#endif
#if ENABLE_LIDAR
@ -689,6 +767,9 @@ int main(int argc, char** argv) {
#ifndef DISABLE_ENCODER
#ifdef QCOM2
wide_encoder_thread_handle.join();
#endif
front_encoder_thread_handle.join();
encoder_thread_handle.join();
LOGW("encoder joined");

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