From f244b7c7e156cd109be13a68ba1096dc2d25f3d0 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Thu, 19 Nov 2020 16:12:02 -0800
Subject: [PATCH] tici front/wide encodeIdx msgs (#2564)

* different msgs

* also add timestamps

* keep impatient log, remove the other

* meaningless
---
 selfdrive/camerad/cameras/camera_common.cc |  1 -
 selfdrive/camerad/cameras/camera_common.h  |  1 +
 selfdrive/camerad/main.cc                  |  1 +
 selfdrive/common/visionipc.h               |  1 +
 selfdrive/loggerd/loggerd.cc               | 19 +++++++------------
 5 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index 1500edc1bc..c389dc4973 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -213,7 +213,6 @@ void CameraBuf::stop() {
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt) {
   framed.setFrameId(frame_data.frame_id);
-  framed.setEncodeId(cnt);
   framed.setTimestampEof(frame_data.timestamp_eof);
   framed.setFrameLength(frame_data.frame_length);
   framed.setIntegLines(frame_data.integ_lines);
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index 232bc7ed5f..fc5fa229d3 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -63,6 +63,7 @@ typedef struct LogCameraInfo {
 
 typedef struct FrameMetadata {
   uint32_t frame_id;
+  uint64_t timestamp_sof; // only set on tici
   uint64_t timestamp_eof;
   unsigned int frame_length;
   unsigned int integ_lines;
diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index 712a08809b..4809315df2 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -205,6 +205,7 @@ void* visionserver_client_thread(void* arg) {
             stream_i == VISION_STREAM_YUV_WIDE) {
           CameraBuf *b = get_camerabuf_by_type(s, (VisionStreamType)stream_i);
           rep.d.stream_acq.extra.frame_id = b->yuv_metas[idx].frame_id;
+          rep.d.stream_acq.extra.timestamp_sof = b->yuv_metas[idx].timestamp_sof;
           rep.d.stream_acq.extra.timestamp_eof = b->yuv_metas[idx].timestamp_eof;
         }
         vipc_send(fd, &rep);
diff --git a/selfdrive/common/visionipc.h b/selfdrive/common/visionipc.h
index 1b216f5255..e20500db6b 100644
--- a/selfdrive/common/visionipc.h
+++ b/selfdrive/common/visionipc.h
@@ -57,6 +57,7 @@ typedef struct VisionStreamBufs {
 typedef struct VIPCBufExtra {
   // only for yuv
   uint32_t frame_id;
+  uint64_t timestamp_sof;
   uint64_t timestamp_eof;
 } VIPCBufExtra;
 
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 4bc50bb16b..51ac005ebe 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -67,7 +67,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
     .stream_type = VISION_STREAM_YUV,
     .filename = "fcamera.hevc",
     .frame_packet_name = "frame",
-    .encode_idx_name = "encodeIdx",
     .fps = MAIN_FPS,
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
@@ -78,7 +77,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
     .stream_type = VISION_STREAM_YUV_FRONT,
     .filename = "dcamera.hevc",
     .frame_packet_name = "frontFrame",
-    .encode_idx_name = "frontEncodeIdx",
     .fps = MAIN_FPS, // on EONs, more compressed this way
     .bitrate = DCAM_BITRATE,
     .is_h265 = true,
@@ -89,7 +87,6 @@ LogCameraInfo cameras_logged[LOG_CAMERA_ID_MAX] = {
     .stream_type = VISION_STREAM_YUV_WIDE,
     .filename = "ecamera.hevc",
     .frame_packet_name = "wideFrame",
-    .encode_idx_name = "wideEncodeIdx",
     .fps = MAIN_FPS,
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
@@ -235,9 +232,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
   s.num_encoder += 1;
   pthread_mutex_unlock(&s.rotate_lock);
 
-  PubSocket *idx_sock = PubSocket::create(s.ctx, cameras_logged[cam_idx].encode_idx_name);
-  assert(idx_sock != NULL);
-
   LoggerHandle *lh = NULL;
 
   while (!do_exit) {
@@ -377,8 +371,12 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
 
         // publish encode index
         MessageBuilder msg;
-        auto eidx = msg.initEvent().initEncodeIdx();
+        // this is really ugly
+        auto eidx = cam_idx == LOG_CAMERA_ID_DCAMERA ? msg.initEvent().initFrontEncodeIdx() :
+                    (cam_idx == LOG_CAMERA_ID_ECAMERA ? msg.initEvent().initWideEncodeIdx() : msg.initEvent().initEncodeIdx());
         eidx.setFrameId(extra.frame_id);
+        eidx.setTimestampSof(extra.timestamp_sof);
+        eidx.setTimestampEof(extra.timestamp_eof);
   #ifdef QCOM2
         eidx.setType(cereal::EncodeIndex::Type::FULL_H_E_V_C);
   #else
@@ -390,9 +388,8 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
         eidx.setSegmentId(out_id);
 
         auto bytes = msg.toBytes();
-
-        if (idx_sock->send((char*)bytes.begin(), bytes.size()) < 0) {
-          printf("err sending encodeIdx pkt: %s\n", strerror(errno));
+        if (lh) {
+          lh_log(lh, bytes.begin(), bytes.size(), false);
         }
       }
 
@@ -450,8 +447,6 @@ void encoder_thread(RotateState *rotate_state, bool raw_clips, int cam_idx) {
     visionstream_destroy(&stream);
   }
 
-  delete idx_sock;
-
   if (encoder_inited) {
     LOG("encoder destroy");
     encoder_close(&encoder);