encoderd: enable (#24492)
* enable encoderd
* correct enable line
* fix loggerd tests
* fix power draw and cpu tests
* correct cpu for encoderd
* fix a bug, video_writer is shared
* fix issue with not recording dcam
* add recording state
* wooo tests pass. encode id keeps counting
* core 3
* loggerd then encoderd
* stop loggerd first
* core 3 always online
* see the camera when we see encoder packet
* encoderd on small core uses 37%
* remove encoder logic from loggerd
* delete unit test that doesn't really make sense anymore
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 94b9972eb7
taco
George Hotz
3 years ago
committed by
GitHub
parent
a7dceb30ae
commit
a053d070be
21 changed files with 160 additions and 434 deletions
@ -1,18 +0,0 @@ |
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#include "selfdrive/loggerd/loggerd.h" |
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#include <sys/resource.h> |
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int main(int argc, char** argv) { |
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if (Hardware::TICI()) { |
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int ret; |
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ret = util::set_core_affinity({0, 1, 2, 3}); |
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assert(ret == 0); |
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// TODO: why does this impact camerad timings?
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//ret = util::set_realtime_priority(1);
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//assert(ret == 0);
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} |
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loggerd_thread(); |
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return 0; |
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} |
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#include "selfdrive/loggerd/loggerd.h" |
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#include "selfdrive/loggerd/remote_encoder.h" |
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int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) { |
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const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] : |
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((name == "wideRoadEncodeData") ? cameras_logged[2] : |
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((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0])); |
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if (!cam_info.record) return 0; // TODO: handle this by not subscribing
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// rotation happened, process the queue (happens before the current message)
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int bytes_count = 0; |
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if (re.logger_segment != s->rotate_segment) { |
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re.logger_segment = s->rotate_segment; |
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for (auto &qmsg: re.q) { |
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bytes_count += handle_encoder_msg(s, qmsg, name, re); |
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} |
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re.q.clear(); |
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} |
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// extract the message
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capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize())); |
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auto event = cmsg.getRoot<cereal::Event>(); |
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auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() : |
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((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() : |
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((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData())); |
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auto idx = edata.getIdx(); |
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auto flags = idx.getFlags(); |
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if (!re.writer) { |
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// only create on iframe
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if (flags & V4L2_BUF_FLAG_KEYFRAME) { |
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if (re.dropped_frames) { |
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// this should only happen for the first segment, maybe
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LOGD("%s: dropped %d non iframe packets before init", name.c_str(), re.dropped_frames); |
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re.dropped_frames = 0; |
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} |
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re.writer.reset(new VideoWriter(s->segment_path, |
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cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, |
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cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType())); |
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// write the header
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auto header = edata.getHeader(); |
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re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); |
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re.segment = idx.getSegmentNum(); |
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} else { |
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++re.dropped_frames; |
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return bytes_count; |
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} |
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} |
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if (re.segment != idx.getSegmentNum()) { |
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if (re.writer) { |
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// encoder is on the next segment, this segment is over so we close the videowriter
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re.writer.reset(); |
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++s->ready_to_rotate; |
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LOGD("rotate %d -> %d ready %d/%d", re.segment, idx.getSegmentNum(), s->ready_to_rotate.load(), s->max_waiting); |
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} |
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// queue up all the new segment messages, they go in after the rotate
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re.q.push_back(msg); |
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} else { |
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auto data = edata.getData(); |
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re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); |
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// put it in log stream as the idx packet
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MessageBuilder bmsg; |
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auto evt = bmsg.initEvent(event.getValid()); |
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evt.setLogMonoTime(event.getLogMonoTime()); |
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if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); } |
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if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); } |
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if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); } |
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if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); } |
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auto new_msg = bmsg.toBytes(); |
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logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
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bytes_count += new_msg.size(); |
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// this frees the message
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delete msg; |
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} |
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return bytes_count; |
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} |
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@ -1,11 +0,0 @@ |
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#include "selfdrive/loggerd/encoder/video_writer.h" |
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struct RemoteEncoder { |
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std::unique_ptr<VideoWriter> writer; |
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int segment = -1; |
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std::vector<Message *> q; |
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int logger_segment = -1; |
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int dropped_frames = 0; |
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}; |
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int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re); |
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@ -1,93 +0,0 @@ |
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#include <future> |
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#include "catch2/catch.hpp" |
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#include "selfdrive/loggerd/loggerd.h" |
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int random_int(int min, int max) { |
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std::random_device dev; |
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std::mt19937 rng(dev()); |
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std::uniform_int_distribution<std::mt19937::result_type> dist(min, max); |
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return dist(rng); |
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} |
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int get_synced_frame_id(LoggerdState *s, CameraType cam_type, int start_frame_id) { |
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int frame_id = start_frame_id; |
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while (!sync_encoders(s, cam_type, frame_id)) { |
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++frame_id; |
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usleep(0); |
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} |
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return frame_id; |
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}; |
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TEST_CASE("sync_encoders") { |
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const int max_waiting = GENERATE(1, 2, 3); |
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for (int test_cnt = 0; test_cnt < 10; ++test_cnt) { |
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LoggerdState s{.max_waiting = max_waiting}; |
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std::vector<int> start_frames; |
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std::vector<std::future<int>> futures; |
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for (int i = 0; i < max_waiting; ++i) { |
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int start_frame_id = random_int(0, 20); |
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start_frames.push_back(start_frame_id); |
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futures.emplace_back(std::async(std::launch::async, get_synced_frame_id, &s, (CameraType)i, start_frame_id)); |
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} |
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// get results
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int synced_frame_id = 0; |
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for (int i = 0; i < max_waiting; ++i) { |
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if (i == 0) { |
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synced_frame_id = futures[i].get(); |
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// require synced_frame_id equal start_frame_id if max_waiting == 1
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if (max_waiting == 1) { |
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REQUIRE(synced_frame_id == start_frames[0]); |
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} |
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} else { |
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REQUIRE(futures[i].get() == synced_frame_id); |
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} |
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} |
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} |
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} |
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const int MAX_SEGMENT_CNT = 100; |
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std::pair<int, uint32_t> encoder_thread(LoggerdState *s) { |
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int cur_seg = 0; |
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uint32_t frame_id = s->start_frame_id; |
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while (cur_seg < MAX_SEGMENT_CNT) { |
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++frame_id; |
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if (trigger_rotate_if_needed(s, cur_seg, frame_id)) { |
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cur_seg = s->rotate_segment; |
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} |
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util::sleep_for(0); |
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} |
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return {cur_seg, frame_id}; |
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} |
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TEST_CASE("trigger_rotate") { |
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const int encoders = GENERATE(1, 2, 3); |
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const int start_frame_id = random_int(0, 20); |
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LoggerdState s{ |
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.max_waiting = encoders, |
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.start_frame_id = start_frame_id, |
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}; |
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std::vector<std::future<std::pair<int, uint32_t>>> futures; |
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for (int i = 0; i < encoders; ++i) { |
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futures.emplace_back(std::async(std::launch::async, encoder_thread, &s)); |
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} |
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while (s.rotate_segment < MAX_SEGMENT_CNT) { |
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rotate_if_needed(&s); |
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util::sleep_for(10); |
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} |
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for (auto &f : futures) { |
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auto [encoder_seg, frame_id] = f.get(); |
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REQUIRE(encoder_seg == MAX_SEGMENT_CNT); |
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REQUIRE(frame_id == start_frame_id + encoder_seg * (SEGMENT_LENGTH * MAIN_FPS)); |
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} |
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} |
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