tici: fix loggerd (#1302)

* loggerd builds

* codec

* add frame_id cams

* working

* no qcam on tici

* pthread always

Co-authored-by: Tici <robbe@comma.ai>

SConstruct

@@ -49,13 +49,14 @@ if arch == "aarch64" or arch == "larch64":
     libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
     cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath = ["/usr/local/lib"]
   else:
     libpath += ["#phonelibs/snpe/aarch64"]
     libpath += ["#phonelibs/libyuv/lib"]
     cflags = ["-DQCOM", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    rpath = ["/system/vendor/lib64"]
 
-  rpath = ["/system/vendor/lib64"]
 else:
   lenv = {
     "PATH": "#external/bin:" + os.environ['PATH'],

external/ffmpeg/larch64/.gitignore

@@ -0,0 +1 @@
+ffmpeg-4.2.2*

external/ffmpeg/larch64/build.sh

@@ -0,0 +1,31 @@
+#!/bin/bash -e
+sudo apt-get remove ffmpeg libavcodec-dev
+
+sudo apt-get update -qq && sudo apt-get -y install \
+  autoconf \
+  automake \
+  build-essential \
+  cmake \
+  git-core \
+  libass-dev \
+  libfreetype6-dev \
+  libsdl2-dev \
+  libtool \
+  libva-dev \
+  libvdpau-dev \
+  libvorbis-dev \
+  libxcb1-dev \
+  libxcb-shm0-dev \
+  libxcb-xfixes0-dev \
+  pkg-config \
+  texinfo \
+  wget \
+  zlib1g-dev
+wget https://ffmpeg.org/releases/ffmpeg-4.2.2.tar.bz2
+tar xvf ffmpeg-4.2.2.tar.bz2
+cd ffmpeg-4.2.2
+
+./configure --enable-shared
+make -j8
+make install
+

selfdrive/camerad/cameras/camera_qcom2.c

@@ -895,6 +895,7 @@ struct video_event_data {
 
 void cameras_run(DualCameraState *s) {
   LOG("-- Dequeueing Video events");
+  int frame_id = 1;
 
   while (!do_exit) {
     struct pollfd fds[2] = {{0}};
@@ -927,6 +928,7 @@ void cameras_run(DualCameraState *s) {
             if (s->rear.request_ids[j] == event_data->frame_id) {
               // TODO: support more than rear camera
               tbuffer_dispatch(&s->rear.camera_tb, j);
+              s->rear.camera_bufs_metadata[j].frame_id = frame_id++;
               break;
             }
           }

selfdrive/camerad/main.cc

@@ -459,8 +459,8 @@ void* processing_thread(void *arg) {
 #endif
 
 // TODO: add this back
-//#if !defined(QCOM) && !defined(QCOM2)
+#if !defined(QCOM) && !defined(QCOM2)
-#ifndef QCOM
+//#ifndef QCOM
         framed.setImage(kj::arrayPtr((const uint8_t*)s->yuv_ion[yuv_idx].addr, s->yuv_buf_size));
 #endif
 

selfdrive/loggerd/SConscript

@@ -8,5 +8,10 @@ libs = ['zmq', 'czmq', 'capnp', 'kj', 'z',
 if arch == "aarch64":
   src += ['encoder.c', 'raw_logger.cc']
   libs += ['OmxVenc', 'OmxCore', 'cutils']
+elif arch == "larch64":
+  src += ['encoder.c', 'raw_logger.cc']
+  libs += ['OmxVenc', 'OmxCore', 'pthread']
+else:
+  libs += ['pthread']
 
 env.Program(src, LIBS=libs)

selfdrive/loggerd/encoder.c

@@ -15,7 +15,7 @@
 
 #include <libyuv.h>
 
-#include <android/log.h>
+//#include <android/log.h>
 
 #include <msm_media_info.h>
 
@@ -24,7 +24,7 @@
 
 #include "encoder.h"
 
-#define ALOG(...) __android_log_print(ANDROID_LOG_VERBOSE, "omxapp", ##__VA_ARGS__)
+//#define ALOG(...) __android_log_print(ANDROID_LOG_VERBOSE, "omxapp", ##__VA_ARGS__)
 
 // encoder: lossey codec using hardware hevc
 static void wait_for_state(EncoderState *s, OMX_STATETYPE state) {
@@ -204,6 +204,9 @@ void encoder_init(EncoderState *s, const char* filename, int width, int height,
     err = OMX_GetHandle(&s->handle, (OMX_STRING)"OMX.qcom.video.encoder.avc",
                         s, &omx_callbacks);
   }
+  if (err != OMX_ErrorNone) {
+    LOGE("error getting codec: %x", err);
+  }
   assert(err == OMX_ErrorNone);
   // printf("handle: %p\n", s->handle);
 
@@ -283,20 +286,22 @@ void encoder_init(EncoderState *s, const char* filename, int width, int height,
   assert(err == OMX_ErrorNone);
 
   if (h265) {
-    // setup HEVC
+    #ifndef QCOM2
-    OMX_VIDEO_PARAM_HEVCTYPE hecv_type = {0};
+      // setup HEVC
-    hecv_type.nSize = sizeof(hecv_type);
+      OMX_VIDEO_PARAM_HEVCTYPE hecv_type = {0};
-    hecv_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+      hecv_type.nSize = sizeof(hecv_type);
-    err = OMX_GetParameter(s->handle, (OMX_INDEXTYPE)OMX_IndexParamVideoHevc,
+      hecv_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-                           (OMX_PTR) &hecv_type);
+      err = OMX_GetParameter(s->handle, (OMX_INDEXTYPE)OMX_IndexParamVideoHevc,
-    assert(err == OMX_ErrorNone);
+                             (OMX_PTR) &hecv_type);
+      assert(err == OMX_ErrorNone);
 
-    hecv_type.eProfile = OMX_VIDEO_HEVCProfileMain;
+      hecv_type.eProfile = OMX_VIDEO_HEVCProfileMain;
-    hecv_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
+      hecv_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
 
-    err = OMX_SetParameter(s->handle, (OMX_INDEXTYPE)OMX_IndexParamVideoHevc,
+      err = OMX_SetParameter(s->handle, (OMX_INDEXTYPE)OMX_IndexParamVideoHevc,
-                           (OMX_PTR) &hecv_type);
+                             (OMX_PTR) &hecv_type);
-    assert(err == OMX_ErrorNone);
+      assert(err == OMX_ErrorNone);
+    #endif
   } else {
     // setup h264
     OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
@@ -552,6 +557,7 @@ void encoder_open(EncoderState *s, const char* path) {
   pthread_mutex_lock(&s->lock);
 
   snprintf(s->vid_path, sizeof(s->vid_path), "%s/%s", path, s->filename);
+  LOGD("encoder_open %s remuxing:%d", s->vid_path, s->remuxing);
 
   if (s->remuxing) {
     avformat_alloc_output_context2(&s->ofmt_ctx, NULL, NULL, s->vid_path);

selfdrive/loggerd/loggerd.cc

@@ -41,7 +41,7 @@
 #include "messaging.hpp"
 #include "services.h"
 
-#ifndef QCOM
+#if !(defined(QCOM) || defined(QCOM2))
 // no encoder on PC
 #define DISABLE_ENCODER
 #endif
@@ -137,10 +137,14 @@ 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);
+
+      #ifndef QCOM2
+      // TODO: fix qcamera on tici
       if (!front) {
         encoder_init(&encoder_alt, "qcamera.ts", 480, 360, CAMERA_FPS, 128000, false, true);
         has_encoder_alt = true;
       }
+      #endif
       encoder_inited = true;
       if (is_streaming) {
         encoder.zmq_ctx = zmq_ctx_new();