From 0681a415e9a162ebbbb70ba1e93ff7e268a58aa7 Mon Sep 17 00:00:00 2001
From: George Hotz <72895+geohot@users.noreply.github.com>
Date: Sun, 10 Apr 2022 15:12:58 -0700
Subject: [PATCH] broadcast encode idx packets (#24176)

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: cc8430b66866ba127ac0d753cee9168240d23102
---
 cereal                       | 2 +-
 selfdrive/loggerd/loggerd.cc | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/cereal b/cereal
index aa52e6dfbe..ad317f1f49 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit aa52e6dfbea1c6243ac5ec2085ef41c3f22398e8
+Subproject commit ad317f1f49ae1835d92c548f05d3b63a811f8600
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index d402c5787f..57389508b4 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -46,6 +46,10 @@ void encoder_thread(LoggerdState *s, const LogCameraInfo &cam_info) {
   std::vector<Encoder *> encoders;
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
+  // While we write them right to the log for sync, we also publish the encode idx to the socket
+  const char *service_name = cam_info.type == DriverCam ? "driverEncodeIdx" : (cam_info.type == WideRoadCam ? "wideRoadEncodeIdx" : "roadEncodeIdx");
+  PubMaster pm({service_name});
+
   while (!do_exit) {
     if (!vipc_client.connect(false)) {
       util::sleep_for(5);
@@ -130,6 +134,7 @@ void encoder_thread(LoggerdState *s, const LogCameraInfo &cam_info) {
             auto bytes = msg.toBytes();
             lh_log(lh, bytes.begin(), bytes.size(), true);
           }
+          pm.send(service_name, msg);
         }
       }
 
@@ -191,6 +196,7 @@ void loggerd_thread() {
   // subscribe to all socks
   for (const auto& it : services) {
     if (!it.should_log) continue;
+    LOGD("logging %s (on port %d)", it.name, it.port);
 
     SubSocket * sock = SubSocket::create(ctx.get(), it.name);
     assert(sock != NULL);