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refactor handle_encoder_msg
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@deanlee
deanlee committed Sep 20, 2024
1 parent 580388e commit 9352d2f
Showing 1 changed file with 68 additions and 61 deletions.
129 changes: 68 additions & 61 deletions system/loggerd/loggerd.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -57,28 +57,85 @@ struct RemoteEncoder {
std::unique_ptr<VideoWriter> writer;
int encoderd_segment_offset;
int current_segment = -1;
std::vector<Message *> q;
std::vector<std::unique_ptr<Message>> q;
int dropped_frames = 0;
bool recording = false;
bool marked_ready_to_rotate = false;
bool seen_first_packet = false;
};

int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
int bytes_count = 0;
size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx();
auto flags = idx.getFlags();

// if we aren't recording yet, try to start, since we are in the correct segment
if (!re.recording) {
if (flags & V4L2_BUF_FLAG_KEYFRAME) {
// only create on iframe
if (re.dropped_frames) {
// this should only happen for the first segment, maybe
LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
re.dropped_frames = 0;
}
// if we aren't actually recording, don't create the writer
if (encoder_info.record) {
assert(encoder_info.filename != NULL);
re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
}
re.recording = true;
} else {
// this is a sad case when we aren't recording, but don't have an iframe
// nothing we can do but drop the frame
++re.dropped_frames;
return 0;
}
}

// we have to be recording if we are here
assert(re.recording);

// if we are actually writing the video file, do so
if (re.writer) {
auto data = edata.getData();
re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof() / 1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
}

// put it in log stream as the idx packet
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
(evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes();
s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
return new_msg.size();
}

size_t write_encode_data(LoggerdState *s, Message *msg, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
auto event = cmsg.getRoot<cereal::Event>();
return write_encode_data(s, event, re, encoder_info);
}

int handle_encoder_msg(LoggerdState *s, Message *raw_msg, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
int bytes_count = 0;
std::unique_ptr<Message> msg(raw_msg);
// extract the message
capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
auto event = cmsg.getRoot<cereal::Event>();
auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx();
auto flags = idx.getFlags();

// encoderd can have started long before loggerd
if (!re.seen_first_packet) {
re.seen_first_packet = true;
re.encoderd_segment_offset = idx.getSegmentNum();
LOGD("%s: has encoderd offset %d", name.c_str(), re.encoderd_segment_offset);
LOGD("%s: has encoderd offset %d", encoder_info.publish_name, re.encoderd_segment_offset);
}
int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset;

Expand All @@ -96,79 +153,29 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
// we are in this segment now, process any queued messages before this one
if (!re.q.empty()) {
for (auto &qmsg : re.q) {
bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
bytes_count += write_encode_data(s, qmsg.get(), re, encoder_info);
}
re.q.clear();
}
}

// if we aren't recording yet, try to start, since we are in the correct segment
if (!re.recording) {
if (flags & V4L2_BUF_FLAG_KEYFRAME) {
// only create on iframe
if (re.dropped_frames) {
// this should only happen for the first segment, maybe
LOGW("%s: dropped %d non iframe packets before init", name.c_str(), re.dropped_frames);
re.dropped_frames = 0;
}
// if we aren't actually recording, don't create the writer
if (encoder_info.record) {
assert(encoder_info.filename != NULL);
re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
}
re.recording = true;
} else {
// this is a sad case when we aren't recording, but don't have an iframe
// nothing we can do but drop the frame
delete msg;
++re.dropped_frames;
return bytes_count;
}
}

// we have to be recording if we are here
assert(re.recording);

// if we are actually writing the video file, do so
if (re.writer) {
auto data = edata.getData();
re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
}

// put it in log stream as the idx packet
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
(evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes();
s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
bytes_count += new_msg.size();

// free the message, we used it
delete msg;
bytes_count += write_encode_data(s, event, re, encoder_info);
} else if (offset_segment_num > s->logger.segment()) {
// encoderd packet has a newer segment, this means encoderd has rolled over
if (!re.marked_ready_to_rotate) {
re.marked_ready_to_rotate = true;
++s->ready_to_rotate;
LOGD("rotate %d -> %d ready %d/%d for %s",
s->logger.segment(), offset_segment_num,
s->ready_to_rotate.load(), s->max_waiting, name.c_str());
s->ready_to_rotate.load(), s->max_waiting, encoder_info.publish_name);
}
// queue up all the new segment messages, they go in after the rotate
re.q.push_back(msg);
re.q.emplace_back(std::move(msg));
} else {
LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d",
name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset);
encoder_info.publish_name, idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset);
// free the message, it's useless. this should never happen
// actually, this can happen if you restart encoderd
re.encoderd_segment_offset = -s->logger.segment();
delete msg;
}

return bytes_count;
Expand Down Expand Up @@ -261,7 +268,7 @@ void loggerd_thread() {
const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
if (service.encoder) {
s.last_camera_seen_tms = millis_since_boot();
bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
bytes_count += handle_encoder_msg(&s, msg, remote_encoders[sock], encoder_infos_dict[service.name]);
} else {
s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog);
bytes_count += msg->getSize();
Expand Down

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