loggerd: set encodeIdx.valid if frame id is correct (#22634)

* loggerd: set encodeIdx.valid if frame id is correct

* check valid flag in test

* test cleanup

* bump cereal

cereal

@@ -1 +1 @@
-Subproject commit e5f5656f511aeba0e048d483f9fc3a374286cf4f
+Subproject commit 7ae52a7d832d16bffb69b4a3d04c4c4d52dd71c2

selfdrive/camerad/cameras/camera_common.cc

@@ -156,6 +156,8 @@ bool CameraBuf::acquire() {
                         cur_frame_data.timestamp_sof,
                         cur_frame_data.timestamp_eof,
   };
+  cur_rgb_buf->set_frame_id(cur_frame_data.frame_id);
+  cur_yuv_buf->set_frame_id(cur_frame_data.frame_id);
   vipc_server->send(cur_rgb_buf, &extra);
   vipc_server->send(cur_yuv_buf, &extra);
 

selfdrive/loggerd/loggerd.cc

@@ -214,7 +214,7 @@ void encoder_thread(const LogCameraInfo &cam_info) {
       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);
         }
@@ -223,8 +223,9 @@ void encoder_thread(const LogCameraInfo &cam_info) {
         if (i == 0 && out_id != -1) {
           MessageBuilder msg;
           // this is really ugly
-          auto eidx = cam_info.type == DriverCam ? msg.initEvent().initDriverEncodeIdx() :
-                     (cam_info.type == WideRoadCam ? msg.initEvent().initWideRoadEncodeIdx() : msg.initEvent().initRoadEncodeIdx());
+          bool valid = (buf->get_frame_id() == extra.frame_id);
+          auto eidx = cam_info.type == DriverCam ? msg.initEvent(valid).initDriverEncodeIdx() :
+                     (cam_info.type == WideRoadCam ? msg.initEvent(valid).initWideRoadEncodeIdx() : msg.initEvent(valid).initRoadEncodeIdx());
           eidx.setFrameId(extra.frame_id);
           eidx.setTimestampSof(extra.timestamp_sof);
           eidx.setTimestampEof(extra.timestamp_eof);

selfdrive/loggerd/tests/test_encoder.py

@@ -121,10 +121,13 @@ class TestEncoder(unittest.TestCase):
         # Check encodeIdx
         if encode_idx_name is not None:
           rlog_path = f"{route_prefix_path}--{i}/rlog.bz2"
+          msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name]
+          encode_msgs = [getattr(m, encode_idx_name) for m in msgs]
 
-          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]
-          frame_idxs = [getattr(m, encode_idx_name).frameId for m in LogReader(rlog_path) if m.which() == encode_idx_name]
+          valid = [m.valid for m in msgs]
+          segment_idxs = [m.segmentId for m in encode_msgs]
+          encode_idxs = [m.encodeId for m in encode_msgs]
+          frame_idxs = [m.frameId for m in encode_msgs]
 
           # Check frame count
           self.assertEqual(frame_count, len(segment_idxs))
@@ -134,6 +137,8 @@ class TestEncoder(unittest.TestCase):
           self.assertEqual(0, segment_idxs[0])
           self.assertEqual(len(set(segment_idxs)), len(segment_idxs))
 
+          self.assertTrue(all(valid))
+
           if not eon_dcam:
             self.assertEqual(expected_frames * i, encode_idxs[0])
             first_frames.append(frame_idxs[0])