Shane Smiskol
2 years ago
commit
8d604ddde9
34 changed files with 430 additions and 964 deletions
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#!/usr/bin/env python3 |
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import unittest |
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from parameterized import parameterized |
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from openpilot.selfdrive.test.process_replay.regen import regen_segment |
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from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled, CONFIGS |
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from openpilot.selfdrive.test.openpilotci import get_url |
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from openpilot.tools.lib.logreader import LogReader |
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from openpilot.tools.lib.framereader import FrameReader |
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EXCLUDED_PROCESSES = {"dmonitoringd", "dmonitoringmodeld"} |
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TESTED_SEGMENTS = [ |
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("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED |
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# Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation |
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# ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021: TICI, incomplete managerState |
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# ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1: TICI |
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] |
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def ci_setup_data_readers(route, sidx): |
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lr = LogReader(get_url(route, sidx, "rlog")) |
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# dm disabled |
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frs = { |
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'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")), |
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} |
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if next((True for m in lr if m.which() == "wideRoadCameraState"), False): |
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frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera")) |
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return lr, frs |
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class TestRegen(unittest.TestCase): |
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@parameterized.expand(TESTED_SEGMENTS) |
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def test_engaged(self, case_name, segment): |
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tested_procs = [p for p in CONFIGS if p.proc_name not in EXCLUDED_PROCESSES] |
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route, sidx = segment.rsplit("--", 1) |
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lr, frs = ci_setup_data_readers(route, sidx) |
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output_logs = regen_segment(lr, frs, processes=tested_procs, disable_tqdm=True) |
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engaged = check_openpilot_enabled(output_logs) |
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self.assertTrue(engaged, f"openpilot not engaged in {case_name}") |
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if __name__=='__main__': |
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unittest.main() |
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@ -1,97 +0,0 @@ |
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#include "selfdrive/ui/qt/widgets/drive_stats.h" |
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#include <QDebug> |
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#include <QGridLayout> |
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#include <QJsonObject> |
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#include <QVBoxLayout> |
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#include "common/params.h" |
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#include "selfdrive/ui/qt/request_repeater.h" |
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#include "selfdrive/ui/qt/util.h" |
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static QLabel* newLabel(const QString& text, const QString &type) { |
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QLabel* label = new QLabel(text); |
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label->setProperty("type", type); |
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return label; |
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} |
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DriveStats::DriveStats(QWidget* parent) : QFrame(parent) { |
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metric_ = Params().getBool("IsMetric"); |
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QVBoxLayout* main_layout = new QVBoxLayout(this); |
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main_layout->setContentsMargins(50, 50, 50, 60); |
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auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) { |
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QGridLayout* grid_layout = new QGridLayout; |
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grid_layout->setVerticalSpacing(10); |
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grid_layout->setContentsMargins(0, 10, 0, 10); |
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int row = 0; |
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grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3); |
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grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1); |
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grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft); |
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grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); |
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grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); |
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grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft); |
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grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); |
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grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); |
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main_layout->addLayout(grid_layout); |
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}; |
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add_stats_layouts(tr("ALL TIME"), all_); |
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main_layout->addStretch(); |
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add_stats_layouts(tr("PAST WEEK"), week_); |
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if (auto dongleId = getDongleId()) { |
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QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats"; |
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RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30); |
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QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse); |
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} |
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setStyleSheet(R"( |
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DriveStats { |
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background-color: #333333; |
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border-radius: 10px; |
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} |
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QLabel[type="title"] { font-size: 51px; font-weight: 500; } |
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QLabel[type="number"] { font-size: 78px; font-weight: 500; } |
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QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; } |
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)"); |
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} |
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void DriveStats::updateStats() { |
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auto update = [=](const QJsonObject& obj, StatsLabels& labels) { |
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labels.routes->setText(QString::number((int)obj["routes"].toDouble())); |
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labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1)))); |
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labels.distance_unit->setText(getDistanceUnit()); |
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labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60))); |
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}; |
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QJsonObject json = stats_.object(); |
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update(json["all"].toObject(), all_); |
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update(json["week"].toObject(), week_); |
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} |
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void DriveStats::parseResponse(const QString& response, bool success) { |
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if (!success) return; |
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QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); |
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if (doc.isNull()) { |
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qDebug() << "JSON Parse failed on getting past drives statistics"; |
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return; |
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} |
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stats_ = doc; |
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updateStats(); |
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} |
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void DriveStats::showEvent(QShowEvent* event) { |
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bool metric = Params().getBool("IsMetric"); |
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if (metric_ != metric) { |
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metric_ = metric; |
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updateStats(); |
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} |
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} |
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@ -1,25 +0,0 @@ |
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#pragma once |
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#include <QJsonDocument> |
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#include <QLabel> |
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class DriveStats : public QFrame { |
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Q_OBJECT |
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public: |
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explicit DriveStats(QWidget* parent = 0); |
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private: |
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void showEvent(QShowEvent *event) override; |
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void updateStats(); |
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inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); } |
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bool metric_; |
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QJsonDocument stats_; |
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struct StatsLabels { |
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QLabel *routes, *distance, *distance_unit, *hours; |
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} all_, week_; |
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private slots: |
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void parseResponse(const QString &response, bool success); |
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}; |
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@ -0,0 +1,301 @@ |
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#!/usr/bin/env python3 |
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import argparse |
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import struct |
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from enum import IntEnum |
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from typing import Tuple |
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from openpilot.tools.lib.filereader import FileReader |
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# H.265 specification |
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# https://www.itu.int/rec/dologin_pub.asp?lang=e&id=T-REC-H.265-201802-S!!PDF-E&type=items |
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NAL_UNIT_START_CODE = b"\x00\x00\x01" |
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NAL_UNIT_START_CODE_SIZE = len(NAL_UNIT_START_CODE) |
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NAL_UNIT_HEADER_SIZE = 2 |
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class HevcNalUnitType(IntEnum): |
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TRAIL_N = 0 # RBSP structure: slice_segment_layer_rbsp( ) |
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TRAIL_R = 1 # RBSP structure: slice_segment_layer_rbsp( ) |
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TSA_N = 2 # RBSP structure: slice_segment_layer_rbsp( ) |
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TSA_R = 3 # RBSP structure: slice_segment_layer_rbsp( ) |
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STSA_N = 4 # RBSP structure: slice_segment_layer_rbsp( ) |
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STSA_R = 5 # RBSP structure: slice_segment_layer_rbsp( ) |
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RADL_N = 6 # RBSP structure: slice_segment_layer_rbsp( ) |
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RADL_R = 7 # RBSP structure: slice_segment_layer_rbsp( ) |
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RASL_N = 8 # RBSP structure: slice_segment_layer_rbsp( ) |
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RASL_R = 9 # RBSP structure: slice_segment_layer_rbsp( ) |
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RSV_VCL_N10 = 10 |
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RSV_VCL_R11 = 11 |
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RSV_VCL_N12 = 12 |
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RSV_VCL_R13 = 13 |
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RSV_VCL_N14 = 14 |
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RSV_VCL_R15 = 15 |
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BLA_W_LP = 16 # RBSP structure: slice_segment_layer_rbsp( ) |
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BLA_W_RADL = 17 # RBSP structure: slice_segment_layer_rbsp( ) |
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BLA_N_LP = 18 # RBSP structure: slice_segment_layer_rbsp( ) |
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IDR_W_RADL = 19 # RBSP structure: slice_segment_layer_rbsp( ) |
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IDR_N_LP = 20 # RBSP structure: slice_segment_layer_rbsp( ) |
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CRA_NUT = 21 # RBSP structure: slice_segment_layer_rbsp( ) |
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RSV_IRAP_VCL22 = 22 |
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RSV_IRAP_VCL23 = 23 |
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RSV_VCL24 = 24 |
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RSV_VCL25 = 25 |
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RSV_VCL26 = 26 |
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RSV_VCL27 = 27 |
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RSV_VCL28 = 28 |
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RSV_VCL29 = 29 |
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RSV_VCL30 = 30 |
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RSV_VCL31 = 31 |
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VPS_NUT = 32 # RBSP structure: video_parameter_set_rbsp( ) |
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SPS_NUT = 33 # RBSP structure: seq_parameter_set_rbsp( ) |
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PPS_NUT = 34 # RBSP structure: pic_parameter_set_rbsp( ) |
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AUD_NUT = 35 |
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EOS_NUT = 36 |
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EOB_NUT = 37 |
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FD_NUT = 38 |
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PREFIX_SEI_NUT = 39 |
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SUFFIX_SEI_NUT = 40 |
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RSV_NVCL41 = 41 |
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RSV_NVCL42 = 42 |
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RSV_NVCL43 = 43 |
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RSV_NVCL44 = 44 |
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RSV_NVCL45 = 45 |
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RSV_NVCL46 = 46 |
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RSV_NVCL47 = 47 |
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UNSPEC48 = 48 |
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UNSPEC49 = 49 |
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UNSPEC50 = 50 |
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UNSPEC51 = 51 |
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UNSPEC52 = 52 |
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UNSPEC53 = 53 |
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UNSPEC54 = 54 |
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UNSPEC55 = 55 |
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UNSPEC56 = 56 |
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UNSPEC57 = 57 |
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UNSPEC58 = 58 |
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UNSPEC59 = 59 |
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UNSPEC60 = 60 |
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UNSPEC61 = 61 |
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UNSPEC62 = 62 |
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UNSPEC63 = 63 |
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# B.2.2 Byte stream NAL unit semantics |
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# - The nal_unit_type within the nal_unit( ) syntax structure is equal to VPS_NUT, SPS_NUT or PPS_NUT. |
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# - The byte stream NAL unit syntax structure contains the first NAL unit of an access unit in decoding |
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# order, as specified in clause 7.4.2.4.4. |
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HEVC_PARAMETER_SET_NAL_UNITS = ( |
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HevcNalUnitType.VPS_NUT, |
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HevcNalUnitType.SPS_NUT, |
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HevcNalUnitType.PPS_NUT, |
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) |
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# 3.29 coded slice segment NAL unit: A NAL unit that has nal_unit_type in the range of TRAIL_N to RASL_R, |
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# inclusive, or in the range of BLA_W_LP to RSV_IRAP_VCL23, inclusive, which indicates that the NAL unit |
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# contains a coded slice segment |
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HEVC_CODED_SLICE_SEGMENT_NAL_UNITS = ( |
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HevcNalUnitType.TRAIL_N, |
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HevcNalUnitType.TRAIL_R, |
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HevcNalUnitType.TSA_N, |
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HevcNalUnitType.TSA_R, |
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HevcNalUnitType.STSA_N, |
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HevcNalUnitType.STSA_R, |
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HevcNalUnitType.RADL_N, |
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HevcNalUnitType.RADL_R, |
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HevcNalUnitType.RASL_N, |
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HevcNalUnitType.RASL_R, |
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HevcNalUnitType.BLA_W_LP, |
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HevcNalUnitType.BLA_W_RADL, |
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HevcNalUnitType.BLA_N_LP, |
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HevcNalUnitType.IDR_W_RADL, |
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HevcNalUnitType.IDR_N_LP, |
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HevcNalUnitType.CRA_NUT, |
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) |
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class VideoFileInvalid(Exception): |
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pass |
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def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> Tuple[int, int]: |
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prefix_val = 0 |
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prefix_len = 0 |
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suffix_val = 0 |
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suffix_len = 0 |
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i = start_idx |
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while i < len(dat): |
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j = 7 |
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while j >= 0: |
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if skip_bits > 0: |
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skip_bits -= 1 |
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elif prefix_val == 0: |
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prefix_val = (dat[i] >> j) & 1 |
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prefix_len += 1 |
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else: |
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suffix_val = (suffix_val << 1) | ((dat[i] >> j) & 1) |
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suffix_len += 1 |
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j -= 1 |
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if prefix_val == 1 and prefix_len - 1 == suffix_len: |
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val = 2**(prefix_len-1) - 1 + suffix_val |
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size = prefix_len + suffix_len |
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return val, size |
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i += 1 |
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raise VideoFileInvalid("invalid exponential-golomb code") |
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def require_nal_unit_start(dat: bytes, nal_unit_start: int) -> None: |
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if nal_unit_start >= len(dat): |
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raise ValueError("start index must be less than data length") |
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if nal_unit_start < 1: |
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raise ValueError("start index must be greater than zero") |
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if dat[nal_unit_start-1] != 0x00: |
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raise VideoFileInvalid("start code must be preceded by 0x00") |
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if dat[nal_unit_start:nal_unit_start + NAL_UNIT_START_CODE_SIZE] != NAL_UNIT_START_CODE: |
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raise VideoFileInvalid("data must begin with start code") |
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def get_hevc_nal_unit_length(dat: bytes, nal_unit_start: int) -> int: |
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try: |
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pos = dat.index(NAL_UNIT_START_CODE, nal_unit_start + NAL_UNIT_START_CODE_SIZE) |
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except ValueError: |
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pos = -1 |
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# length of NAL unit is byte count up to next NAL unit start index |
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nal_unit_len = (pos if pos != -1 else len(dat)) - nal_unit_start |
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return nal_unit_len |
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def get_hevc_nal_unit_type(dat: bytes, nal_unit_start: int) -> HevcNalUnitType: |
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# 7.3.1.2 NAL unit header syntax |
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# nal_unit_header( ) { // descriptor |
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# forbidden_zero_bit f(1) |
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# nal_unit_type u(6) |
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# nuh_layer_id u(6) |
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# nuh_temporal_id_plus1 u(3) |
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# } |
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header_start = nal_unit_start + NAL_UNIT_START_CODE_SIZE |
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nal_unit_header = dat[header_start:header_start + NAL_UNIT_HEADER_SIZE] |
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if len(nal_unit_header) != 2: |
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raise VideoFileInvalid("data to short to contain nal unit header") |
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return HevcNalUnitType((nal_unit_header[0] >> 1) & 0x3F) |
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def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalUnitType) -> Tuple[int, bool]: |
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# 7.3.2.9 Slice segment layer RBSP syntax |
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# slice_segment_layer_rbsp( ) { |
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# slice_segment_header( ) |
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# slice_segment_data( ) |
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# rbsp_slice_segment_trailing_bits( ) |
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# } |
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# ... |
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# 7.3.6.1 General slice segment header syntax |
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# slice_segment_header( ) { // descriptor |
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# first_slice_segment_in_pic_flag u(1) |
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# if( nal_unit_type >= BLA_W_LP && nal_unit_type <= RSV_IRAP_VCL23 ) |
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# no_output_of_prior_pics_flag u(1) |
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# slice_pic_parameter_set_id ue(v) |
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# if( !first_slice_segment_in_pic_flag ) { |
||||||
|
# if( dependent_slice_segments_enabled_flag ) |
||||||
|
# dependent_slice_segment_flag u(1) |
||||||
|
# slice_segment_address u(v) |
||||||
|
# } |
||||||
|
# if( !dependent_slice_segment_flag ) { |
||||||
|
# for( i = 0; i < num_extra_slice_header_bits; i++ ) |
||||||
|
# slice_reserved_flag[ i ] u(1) |
||||||
|
# slice_type ue(v) |
||||||
|
# ... |
||||||
|
|
||||||
|
rbsp_start = nal_unit_start + NAL_UNIT_START_CODE_SIZE + NAL_UNIT_HEADER_SIZE |
||||||
|
skip_bits = 0 |
||||||
|
|
||||||
|
# 7.4.7.1 General slice segment header semantics |
||||||
|
# first_slice_segment_in_pic_flag equal to 1 specifies that the slice segment is the first slice segment of the picture in |
||||||
|
# decoding order. first_slice_segment_in_pic_flag equal to 0 specifies that the slice segment is not the first slice segment |
||||||
|
# of the picture in decoding order. |
||||||
|
is_first_slice = dat[rbsp_start] >> 7 & 1 == 1 |
||||||
|
if not is_first_slice: |
||||||
|
# TODO: parse dependent_slice_segment_flag and slice_segment_address and get real slice_type |
||||||
|
# for now since we don't use it return -1 for slice_type |
||||||
|
return (-1, is_first_slice) |
||||||
|
skip_bits += 1 # skip past first_slice_segment_in_pic_flag |
||||||
|
|
||||||
|
if nal_unit_type >= HevcNalUnitType.BLA_W_LP and nal_unit_type <= HevcNalUnitType.RSV_IRAP_VCL23: |
||||||
|
# 7.4.7.1 General slice segment header semantics |
||||||
|
# no_output_of_prior_pics_flag affects the output of previously-decoded pictures in the decoded picture buffer after the |
||||||
|
# decoding of an IDR or a BLA picture that is not the first picture in the bitstream as specified in Annex C. |
||||||
|
skip_bits += 1 # skip past no_output_of_prior_pics_flag |
||||||
|
|
||||||
|
# 7.4.7.1 General slice segment header semantics |
||||||
|
# slice_pic_parameter_set_id specifies the value of pps_pic_parameter_set_id for the PPS in use. |
||||||
|
# The value of slice_pic_parameter_set_id shall be in the range of 0 to 63, inclusive. |
||||||
|
_, size = get_ue(dat, rbsp_start, skip_bits) |
||||||
|
skip_bits += size # skip past slice_pic_parameter_set_id |
||||||
|
|
||||||
|
# 7.4.3.3.1 General picture parameter set RBSP semanal_unit_lenntics |
||||||
|
# num_extra_slice_header_bits specifies the number of extra slice header bits that are present in the slice header RBSP |
||||||
|
# for coded pictures referring to the PPS. The value of num_extra_slice_header_bits shall be in the range of 0 to 2, inclusive, |
||||||
|
# in bitstreams conforming to this version of this Specification. Other values for num_extra_slice_header_bits are reserved |
||||||
|
# for future use by ITU-T | ISO/IEC. However, decoders shall allow num_extra_slice_header_bits to have any value. |
||||||
|
# TODO: get from PPS_NUT pic_parameter_set_rbsp( ) for corresponding slice_pic_parameter_set_id |
||||||
|
num_extra_slice_header_bits = 0 |
||||||
|
skip_bits += num_extra_slice_header_bits |
||||||
|
|
||||||
|
# 7.4.7.1 General slice segment header semantics |
||||||
|
# slice_type specifies the coding type of the slice according to Table 7-7. |
||||||
|
# Table 7-7 - Name association to slice_type |
||||||
|
# slice_type | Name of slice_type |
||||||
|
# 0 | B (B slice) |
||||||
|
# 1 | P (P slice) |
||||||
|
# 2 | I (I slice) |
||||||
|
# unsigned integer 0-th order Exp-Golomb-coded syntax element with the left bit first |
||||||
|
slice_type, _ = get_ue(dat, rbsp_start, skip_bits) |
||||||
|
if slice_type > 2: |
||||||
|
raise VideoFileInvalid("slice_type must be 0, 1, or 2") |
||||||
|
return slice_type, is_first_slice |
||||||
|
|
||||||
|
def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> Tuple[list, int, bytes]: |
||||||
|
with FileReader(hevc_file_name) as f: |
||||||
|
dat = f.read() |
||||||
|
|
||||||
|
if len(dat) < NAL_UNIT_START_CODE_SIZE + 1: |
||||||
|
raise VideoFileInvalid("data is too short") |
||||||
|
|
||||||
|
prefix_dat = b"" |
||||||
|
frame_types = list() |
||||||
|
|
||||||
|
try: |
||||||
|
i = 1 # skip past first byte 0x00 (verified by get_hevc_nal_info) |
||||||
|
while i < len(dat): |
||||||
|
require_nal_unit_start(dat, i) |
||||||
|
nal_unit_len = get_hevc_nal_unit_length(dat, i) |
||||||
|
nal_unit_type = get_hevc_nal_unit_type(dat, i) |
||||||
|
if nal_unit_type in HEVC_PARAMETER_SET_NAL_UNITS: |
||||||
|
prefix_dat += dat[i:i+nal_unit_len] |
||||||
|
elif nal_unit_type in HEVC_CODED_SLICE_SEGMENT_NAL_UNITS: |
||||||
|
slice_type, is_first_slice = get_hevc_slice_type(dat, i, nal_unit_type) |
||||||
|
if is_first_slice: |
||||||
|
frame_types.append((slice_type, i)) |
||||||
|
i += nal_unit_len |
||||||
|
except Exception: |
||||||
|
if not allow_corrupt: |
||||||
|
raise |
||||||
|
|
||||||
|
return frame_types, len(dat), prefix_dat |
||||||
|
|
||||||
|
def main() -> None: |
||||||
|
parser = argparse.ArgumentParser() |
||||||
|
parser.add_argument("input_file", type=str) |
||||||
|
parser.add_argument("output_prefix_file", type=str) |
||||||
|
parser.add_argument("output_index_file", type=str) |
||||||
|
args = parser.parse_args() |
||||||
|
|
||||||
|
frame_types, dat_len, prefix_dat = hevc_index(args.input_file) |
||||||
|
with open(args.output_prefix_file, "wb") as f: |
||||||
|
f.write(prefix_dat) |
||||||
|
|
||||||
|
with open(args.output_index_file, "wb") as f: |
||||||
|
for ft, fp in frame_types: |
||||||
|
f.write(struct.pack("<II", ft, fp)) |
||||||
|
f.write(struct.pack("<II", 0xFFFFFFFF, dat_len)) |
||||||
|
|
||||||
|
if __name__ == "__main__": |
||||||
|
main() |
||||||
@ -1 +0,0 @@ |
|||||||
vidindex |
|
||||||
@ -1,6 +0,0 @@ |
|||||||
CC := gcc
|
|
||||||
|
|
||||||
vidindex: bitstream.c bitstream.h vidindex.c |
|
||||||
$(eval $@_TMP := $(shell mktemp))
|
|
||||||
$(CC) -std=c99 bitstream.c vidindex.c -o $($@_TMP)
|
|
||||||
mv $($@_TMP) $@
|
|
||||||
@ -1,118 +0,0 @@ |
|||||||
#include "./bitstream.h" |
|
||||||
|
|
||||||
#include <stdbool.h> |
|
||||||
#include <assert.h> |
|
||||||
|
|
||||||
static const uint32_t BS_MASKS[33] = { |
|
||||||
0, 0x1L, 0x3L, 0x7L, 0xFL, 0x1FL, |
|
||||||
0x3FL, 0x7FL, 0xFFL, 0x1FFL, 0x3FFL, 0x7FFL, |
|
||||||
0xFFFL, 0x1FFFL, 0x3FFFL, 0x7FFFL, 0xFFFFL, 0x1FFFFL, |
|
||||||
0x3FFFFL, 0x7FFFFL, 0xFFFFFL, 0x1FFFFFL, 0x3FFFFFL, 0x7FFFFFL, |
|
||||||
0xFFFFFFL, 0x1FFFFFFL, 0x3FFFFFFL, 0x7FFFFFFL, 0xFFFFFFFL, 0x1FFFFFFFL, |
|
||||||
0x3FFFFFFFL, 0x7FFFFFFFL, 0xFFFFFFFFL}; |
|
||||||
|
|
||||||
void bs_init(struct bitstream* bs, const uint8_t* buffer, size_t input_size) { |
|
||||||
bs->buffer_ptr = buffer; |
|
||||||
bs->buffer_end = buffer + input_size; |
|
||||||
bs->value = 0; |
|
||||||
bs->pos = 0; |
|
||||||
bs->shift = 8; |
|
||||||
bs->size = input_size * 8; |
|
||||||
} |
|
||||||
|
|
||||||
uint32_t bs_get(struct bitstream* bs, int n) { |
|
||||||
if (n > 32) |
|
||||||
return 0; |
|
||||||
|
|
||||||
bs->pos += n; |
|
||||||
bs->shift += n; |
|
||||||
while (bs->shift > 8) { |
|
||||||
if (bs->buffer_ptr < bs->buffer_end) { |
|
||||||
bs->value <<= 8; |
|
||||||
bs->value |= *bs->buffer_ptr++; |
|
||||||
bs->shift -= 8; |
|
||||||
} else { |
|
||||||
bs_seek(bs, bs->pos - n); |
|
||||||
return 0; |
|
||||||
// bs->value <<= 8;
|
|
||||||
// bs->shift -= 8;
|
|
||||||
} |
|
||||||
} |
|
||||||
return (bs->value >> (8 - bs->shift)) & BS_MASKS[n]; |
|
||||||
} |
|
||||||
|
|
||||||
void bs_seek(struct bitstream* bs, size_t new_pos) { |
|
||||||
bs->pos = (new_pos / 32) * 32; |
|
||||||
bs->shift = 8; |
|
||||||
bs->value = 0; |
|
||||||
bs_get(bs, new_pos % 32); |
|
||||||
} |
|
||||||
|
|
||||||
uint32_t bs_peek(struct bitstream* bs, int n) { |
|
||||||
struct bitstream bak = *bs; |
|
||||||
return bs_get(&bak, n); |
|
||||||
} |
|
||||||
|
|
||||||
size_t bs_remain(struct bitstream* bs) { |
|
||||||
return bs->size - bs->pos; |
|
||||||
} |
|
||||||
|
|
||||||
int bs_eof(struct bitstream* bs) { |
|
||||||
return bs_remain(bs) == 0; |
|
||||||
} |
|
||||||
|
|
||||||
uint32_t bs_ue(struct bitstream* bs) { |
|
||||||
static const uint8_t exp_golomb_bits[256] = { |
|
||||||
8, 7, 6, 6, 5, 5, 5, 5, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, |
|
||||||
3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, |
|
||||||
2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, |
|
||||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, |
|
||||||
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, |
|
||||||
1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, |
|
||||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, |
|
||||||
}; |
|
||||||
uint32_t bits, read = 0; |
|
||||||
int bits_left; |
|
||||||
uint8_t coded; |
|
||||||
int done = 0; |
|
||||||
bits = 0; |
|
||||||
// we want to read 8 bits at a time - if we don't have 8 bits,
|
|
||||||
// read what's left, and shift. The exp_golomb_bits calc remains the
|
|
||||||
// same.
|
|
||||||
while (!done) { |
|
||||||
bits_left = bs_remain(bs); |
|
||||||
if (bits_left < 8) { |
|
||||||
read = bs_peek(bs, bits_left) << (8 - bits_left); |
|
||||||
done = 1; |
|
||||||
} else { |
|
||||||
read = bs_peek(bs, 8); |
|
||||||
if (read == 0) { |
|
||||||
bs_get(bs, 8); |
|
||||||
bits += 8; |
|
||||||
} else { |
|
||||||
done = 1; |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
coded = exp_golomb_bits[read]; |
|
||||||
bs_get(bs, coded); |
|
||||||
bits += coded; |
|
||||||
|
|
||||||
// printf("ue - bits %d\n", bits);
|
|
||||||
return bs_get(bs, bits + 1) - 1; |
|
||||||
} |
|
||||||
|
|
||||||
int32_t bs_se(struct bitstream* bs) { |
|
||||||
uint32_t ret; |
|
||||||
ret = bs_ue(bs); |
|
||||||
if ((ret & 0x1) == 0) { |
|
||||||
ret >>= 1; |
|
||||||
int32_t temp = 0 - ret; |
|
||||||
return temp; |
|
||||||
} |
|
||||||
return (ret + 1) >> 1; |
|
||||||
} |
|
||||||
@ -1,26 +0,0 @@ |
|||||||
#ifndef bitstream_H |
|
||||||
#define bitstream_H |
|
||||||
|
|
||||||
|
|
||||||
#include <stddef.h> |
|
||||||
#include <stdint.h> |
|
||||||
|
|
||||||
struct bitstream { |
|
||||||
const uint8_t *buffer_ptr; |
|
||||||
const uint8_t *buffer_end; |
|
||||||
uint64_t value; |
|
||||||
uint32_t pos; |
|
||||||
uint32_t shift; |
|
||||||
size_t size; |
|
||||||
}; |
|
||||||
|
|
||||||
void bs_init(struct bitstream *bs, const uint8_t *buffer, size_t input_size); |
|
||||||
void bs_seek(struct bitstream *bs, size_t new_pos); |
|
||||||
uint32_t bs_get(struct bitstream *bs, int n); |
|
||||||
uint32_t bs_peek(struct bitstream *bs, int n); |
|
||||||
size_t bs_remain(struct bitstream *bs); |
|
||||||
int bs_eof(struct bitstream *bs); |
|
||||||
uint32_t bs_ue(struct bitstream *bs); |
|
||||||
int32_t bs_se(struct bitstream *bs); |
|
||||||
|
|
||||||
#endif |
|
||||||
@ -1,307 +0,0 @@ |
|||||||
#include <stdio.h> |
|
||||||
#include <stdlib.h> |
|
||||||
#include <stdbool.h> |
|
||||||
#include <string.h> |
|
||||||
#include <assert.h> |
|
||||||
|
|
||||||
#include <unistd.h> |
|
||||||
#include <fcntl.h> |
|
||||||
#include <sys/stat.h> |
|
||||||
#include <sys/mman.h> |
|
||||||
|
|
||||||
#include "./bitstream.h" |
|
||||||
|
|
||||||
#define START_CODE 0x000001 |
|
||||||
|
|
||||||
static uint32_t read24be(const uint8_t* ptr) { |
|
||||||
return (ptr[0] << 16) | (ptr[1] << 8) | ptr[2]; |
|
||||||
} |
|
||||||
static void write32le(FILE *of, uint32_t v) { |
|
||||||
uint8_t va[4] = { |
|
||||||
v & 0xff, (v >> 8) & 0xff, (v >> 16) & 0xff, (v >> 24) & 0xff |
|
||||||
}; |
|
||||||
fwrite(va, 1, sizeof(va), of); |
|
||||||
} |
|
||||||
|
|
||||||
// Table 7-1
|
|
||||||
enum hevc_nal_type { |
|
||||||
HEVC_NAL_TYPE_TRAIL_N = 0, |
|
||||||
HEVC_NAL_TYPE_TRAIL_R = 1, |
|
||||||
HEVC_NAL_TYPE_TSA_N = 2, |
|
||||||
HEVC_NAL_TYPE_TSA_R = 3, |
|
||||||
HEVC_NAL_TYPE_STSA_N = 4, |
|
||||||
HEVC_NAL_TYPE_STSA_R = 5, |
|
||||||
HEVC_NAL_TYPE_RADL_N = 6, |
|
||||||
HEVC_NAL_TYPE_RADL_R = 7, |
|
||||||
HEVC_NAL_TYPE_RASL_N = 8, |
|
||||||
HEVC_NAL_TYPE_RASL_R = 9, |
|
||||||
HEVC_NAL_TYPE_BLA_W_LP = 16, |
|
||||||
HEVC_NAL_TYPE_BLA_W_RADL = 17, |
|
||||||
HEVC_NAL_TYPE_BLA_N_LP = 18, |
|
||||||
HEVC_NAL_TYPE_IDR_W_RADL = 19, |
|
||||||
HEVC_NAL_TYPE_IDR_N_LP = 20, |
|
||||||
HEVC_NAL_TYPE_CRA_NUT = 21, |
|
||||||
HEVC_NAL_TYPE_RSV_IRAP_VCL23 = 23, |
|
||||||
HEVC_NAL_TYPE_VPS_NUT = 32, |
|
||||||
HEVC_NAL_TYPE_SPS_NUT = 33, |
|
||||||
HEVC_NAL_TYPE_PPS_NUT = 34, |
|
||||||
HEVC_NAL_TYPE_AUD_NUT = 35, |
|
||||||
HEVC_NAL_TYPE_EOS_NUT = 36, |
|
||||||
HEVC_NAL_TYPE_EOB_NUT = 37, |
|
||||||
HEVC_NAL_TYPE_FD_NUT = 38, |
|
||||||
HEVC_NAL_TYPE_PREFIX_SEI_NUT = 39, |
|
||||||
HEVC_NAL_TYPE_SUFFIX_SEI_NUT = 40, |
|
||||||
}; |
|
||||||
|
|
||||||
// Table 7-7
|
|
||||||
enum hevc_slice_type { |
|
||||||
HEVC_SLICE_B = 0, |
|
||||||
HEVC_SLICE_P = 1, |
|
||||||
HEVC_SLICE_I = 2, |
|
||||||
}; |
|
||||||
|
|
||||||
static void hevc_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) { |
|
||||||
const uint8_t* ptr = data; |
|
||||||
const uint8_t* ptr_end = data + file_size; |
|
||||||
|
|
||||||
assert(ptr[0] == 0); |
|
||||||
ptr++; |
|
||||||
assert(read24be(ptr) == START_CODE); |
|
||||||
|
|
||||||
// pps. ignore for now
|
|
||||||
uint32_t num_extra_slice_header_bits = 0; |
|
||||||
uint32_t dependent_slice_segments_enabled_flag = 0; |
|
||||||
|
|
||||||
while (ptr < ptr_end) { |
|
||||||
const uint8_t* next = ptr+1; |
|
||||||
for (; next < ptr_end-4; next++) { |
|
||||||
if (read24be(next) == START_CODE) break; |
|
||||||
} |
|
||||||
size_t nal_size = next - ptr; |
|
||||||
if (nal_size < 6) { |
|
||||||
break; |
|
||||||
} |
|
||||||
|
|
||||||
{ |
|
||||||
struct bitstream bs = {0}; |
|
||||||
bs_init(&bs, ptr, nal_size); |
|
||||||
|
|
||||||
uint32_t start_code = bs_get(&bs, 24); |
|
||||||
assert(start_code == 0x000001); |
|
||||||
|
|
||||||
// nal_unit_header
|
|
||||||
uint32_t forbidden_zero_bit = bs_get(&bs, 1); |
|
||||||
uint32_t nal_unit_type = bs_get(&bs, 6); |
|
||||||
uint32_t nuh_layer_id = bs_get(&bs, 6); |
|
||||||
uint32_t nuh_temporal_id_plus1 = bs_get(&bs, 3); |
|
||||||
|
|
||||||
// if (nal_unit_type != 1) printf("%3d -- %3d %10d %lu\n", nal_unit_type, frame_num, (uint32_t)(ptr-data), nal_size);
|
|
||||||
|
|
||||||
switch (nal_unit_type) { |
|
||||||
case HEVC_NAL_TYPE_VPS_NUT: |
|
||||||
case HEVC_NAL_TYPE_SPS_NUT: |
|
||||||
case HEVC_NAL_TYPE_PPS_NUT: |
|
||||||
fwrite(ptr, 1, nal_size, of_prefix); |
|
||||||
break; |
|
||||||
case HEVC_NAL_TYPE_TRAIL_N: |
|
||||||
case HEVC_NAL_TYPE_TRAIL_R: |
|
||||||
case HEVC_NAL_TYPE_TSA_N: |
|
||||||
case HEVC_NAL_TYPE_TSA_R: |
|
||||||
case HEVC_NAL_TYPE_STSA_N: |
|
||||||
case HEVC_NAL_TYPE_STSA_R: |
|
||||||
case HEVC_NAL_TYPE_RADL_N: |
|
||||||
case HEVC_NAL_TYPE_RADL_R: |
|
||||||
case HEVC_NAL_TYPE_RASL_N: |
|
||||||
case HEVC_NAL_TYPE_RASL_R: |
|
||||||
case HEVC_NAL_TYPE_BLA_W_LP: |
|
||||||
case HEVC_NAL_TYPE_BLA_W_RADL: |
|
||||||
case HEVC_NAL_TYPE_BLA_N_LP: |
|
||||||
case HEVC_NAL_TYPE_IDR_W_RADL: |
|
||||||
case HEVC_NAL_TYPE_IDR_N_LP: |
|
||||||
case HEVC_NAL_TYPE_CRA_NUT: { |
|
||||||
// slice_segment_header
|
|
||||||
uint32_t first_slice_segment_in_pic_flag = bs_get(&bs, 1); |
|
||||||
if (nal_unit_type >= HEVC_NAL_TYPE_BLA_W_LP && nal_unit_type <= HEVC_NAL_TYPE_RSV_IRAP_VCL23) { |
|
||||||
uint32_t no_output_of_prior_pics_flag = bs_get(&bs, 1); |
|
||||||
} |
|
||||||
uint32_t slice_pic_parameter_set_id = bs_get(&bs, 1); |
|
||||||
if (!first_slice_segment_in_pic_flag) { |
|
||||||
// ...
|
|
||||||
break; |
|
||||||
} |
|
||||||
|
|
||||||
if (!dependent_slice_segments_enabled_flag) { |
|
||||||
for (int i=0; i<num_extra_slice_header_bits; i++) { |
|
||||||
bs_get(&bs, 1); |
|
||||||
} |
|
||||||
uint32_t slice_type = bs_ue(&bs); |
|
||||||
|
|
||||||
// write the index
|
|
||||||
write32le(of_index, slice_type); |
|
||||||
write32le(of_index, ptr - data); |
|
||||||
|
|
||||||
// ...
|
|
||||||
} |
|
||||||
|
|
||||||
break; |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
//...
|
|
||||||
// emulation_prevention_three_byte
|
|
||||||
} |
|
||||||
|
|
||||||
ptr = next; |
|
||||||
} |
|
||||||
|
|
||||||
write32le(of_index, -1); |
|
||||||
write32le(of_index, file_size); |
|
||||||
} |
|
||||||
|
|
||||||
// Table 7-1
|
|
||||||
enum h264_nal_type { |
|
||||||
H264_NAL_SLICE = 1, |
|
||||||
H264_NAL_DPA = 2, |
|
||||||
H264_NAL_DPB = 3, |
|
||||||
H264_NAL_DPC = 4, |
|
||||||
H264_NAL_IDR_SLICE = 5, |
|
||||||
H264_NAL_SEI = 6, |
|
||||||
H264_NAL_SPS = 7, |
|
||||||
H264_NAL_PPS = 8, |
|
||||||
H264_NAL_AUD = 9, |
|
||||||
H264_NAL_END_SEQUENCE = 10, |
|
||||||
H264_NAL_END_STREAM = 11, |
|
||||||
H264_NAL_FILLER_DATA = 12, |
|
||||||
H264_NAL_SPS_EXT = 13, |
|
||||||
H264_NAL_AUXILIARY_SLICE = 19, |
|
||||||
}; |
|
||||||
|
|
||||||
enum h264_slice_type { |
|
||||||
H264_SLICE_P = 0, |
|
||||||
H264_SLICE_B = 1, |
|
||||||
H264_SLICE_I = 2, |
|
||||||
// ...
|
|
||||||
}; |
|
||||||
|
|
||||||
static void h264_index(const uint8_t *data, size_t file_size, FILE *of_prefix, FILE *of_index) { |
|
||||||
const uint8_t* ptr = data; |
|
||||||
const uint8_t* ptr_end = data + file_size; |
|
||||||
|
|
||||||
assert(ptr[0] == 0); |
|
||||||
ptr++; |
|
||||||
assert(read24be(ptr) == START_CODE); |
|
||||||
|
|
||||||
|
|
||||||
uint32_t sps_log2_max_frame_num_minus4; |
|
||||||
|
|
||||||
|
|
||||||
int last_frame_num = -1; |
|
||||||
|
|
||||||
while (ptr < ptr_end) { |
|
||||||
const uint8_t* next = ptr+1; |
|
||||||
for (; next < ptr_end-4; next++) { |
|
||||||
if (read24be(next) == START_CODE) break; |
|
||||||
} |
|
||||||
size_t nal_size = next - ptr; |
|
||||||
if (nal_size < 5) { |
|
||||||
break; |
|
||||||
} |
|
||||||
|
|
||||||
{ |
|
||||||
struct bitstream bs = {0}; |
|
||||||
bs_init(&bs, ptr, nal_size); |
|
||||||
|
|
||||||
uint32_t start_code = bs_get(&bs, 24); |
|
||||||
assert(start_code == 0x000001); |
|
||||||
|
|
||||||
// nal_unit_header
|
|
||||||
uint32_t forbidden_zero_bit = bs_get(&bs, 1); |
|
||||||
uint32_t nal_ref_idx = bs_get(&bs, 2); |
|
||||||
uint32_t nal_unit_type = bs_get(&bs, 5); |
|
||||||
|
|
||||||
switch (nal_unit_type) { |
|
||||||
case H264_NAL_SPS: |
|
||||||
|
|
||||||
{ |
|
||||||
uint32_t profile_idx = bs_get(&bs, 8); |
|
||||||
uint32_t constraint_sets = bs_get(&bs, 4); |
|
||||||
uint32_t reserved = bs_get(&bs, 5); |
|
||||||
uint32_t level_idc = bs_get(&bs, 5); |
|
||||||
uint32_t seq_parameter_set_id = bs_ue(&bs); |
|
||||||
sps_log2_max_frame_num_minus4 = bs_ue(&bs); |
|
||||||
} |
|
||||||
|
|
||||||
// fallthrough
|
|
||||||
case H264_NAL_PPS: |
|
||||||
fwrite(ptr, 1, nal_size, of_prefix); |
|
||||||
break; |
|
||||||
|
|
||||||
case H264_NAL_SLICE: |
|
||||||
case H264_NAL_IDR_SLICE: { |
|
||||||
// slice header
|
|
||||||
uint32_t first_mb_in_slice = bs_ue(&bs); |
|
||||||
uint32_t slice_type = bs_ue(&bs); |
|
||||||
uint32_t pic_parameter_set_id = bs_ue(&bs); |
|
||||||
|
|
||||||
uint32_t frame_num = bs_get(&bs, sps_log2_max_frame_num_minus4+4); |
|
||||||
|
|
||||||
if (first_mb_in_slice == 0) { |
|
||||||
write32le(of_index, slice_type); |
|
||||||
write32le(of_index, ptr - data); |
|
||||||
} |
|
||||||
|
|
||||||
break; |
|
||||||
} |
|
||||||
|
|
||||||
} |
|
||||||
|
|
||||||
} |
|
||||||
|
|
||||||
ptr = next; |
|
||||||
} |
|
||||||
|
|
||||||
write32le(of_index, -1); |
|
||||||
write32le(of_index, file_size); |
|
||||||
} |
|
||||||
|
|
||||||
int main(int argc, char** argv) { |
|
||||||
if (argc != 5) { |
|
||||||
fprintf(stderr, "usage: %s h264|hevc file_path out_prefix out_index\n", argv[0]); |
|
||||||
exit(1); |
|
||||||
} |
|
||||||
|
|
||||||
const char* file_type = argv[1]; |
|
||||||
const char* file_path = argv[2]; |
|
||||||
|
|
||||||
int fd = open(file_path, O_RDONLY, 0); |
|
||||||
if (fd < 0) { |
|
||||||
fprintf(stderr, "error: couldn't open %s\n", file_path); |
|
||||||
exit(1); |
|
||||||
} |
|
||||||
|
|
||||||
FILE *of_prefix = fopen(argv[3], "wb"); |
|
||||||
assert(of_prefix); |
|
||||||
FILE *of_index = fopen(argv[4], "wb"); |
|
||||||
assert(of_index); |
|
||||||
|
|
||||||
off_t file_size = lseek(fd, 0, SEEK_END); |
|
||||||
lseek(fd, 0, SEEK_SET); |
|
||||||
|
|
||||||
assert(file_size > 4); |
|
||||||
|
|
||||||
const uint8_t* data = (const uint8_t*)mmap(NULL, file_size, PROT_READ, MAP_PRIVATE, fd, 0); |
|
||||||
assert(data != MAP_FAILED); |
|
||||||
|
|
||||||
if (strcmp(file_type, "hevc") == 0) { |
|
||||||
hevc_index(data, file_size, of_prefix, of_index); |
|
||||||
} else if (strcmp(file_type, "h264") == 0) { |
|
||||||
h264_index(data, file_size, of_prefix, of_index); |
|
||||||
} else { |
|
||||||
assert(false); |
|
||||||
} |
|
||||||
|
|
||||||
munmap((void*)data, file_size); |
|
||||||
close(fd); |
|
||||||
|
|
||||||
return 0; |
|
||||||
} |
|
||||||
Loading…
Reference in new issue