default is cuda

commaai · Nov 17, 2021 · 1c3c508 · 1c3c508
1 parent 07459e0
commit 1c3c508
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Showing 6 changed files with 7 additions and 12 deletions.
diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc
@@ -49,7 +49,7 @@ FrameReader::~FrameReader() {
   }
 }
 
-bool FrameReader::load(const std::string &url, AVHWDeviceType hw_device_type, std::atomic<bool> *abort) {
+bool FrameReader::load(const std::string &url, bool no_cuda, std::atomic<bool> *abort) {
   std::string content = read(url, abort);
   if (content.empty()) return false;
 
@@ -85,8 +85,8 @@ bool FrameReader::load(const std::string &url, AVHWDeviceType hw_device_type, st
   width = (decoder_ctx->width + 3) & ~3;
   height = decoder_ctx->height;
 
-  if (hw_device_type != AV_HWDEVICE_TYPE_NONE) {
-    if (!initHardwareDecoder(hw_device_type)) {
+  if (!no_cuda) {
+    if (!initHardwareDecoder(AV_HWDEVICE_TYPE_CUDA)) {
       return false;
     }
   }

diff --git a/selfdrive/ui/replay/framereader.h b/selfdrive/ui/replay/framereader.h
@@ -21,7 +21,7 @@ class FrameReader : protected FileReader {
 public:
   FrameReader(bool local_cache = false, int chunk_size = -1, int retries = 0);
   ~FrameReader();
-  bool load(const std::string &url, AVHWDeviceType hw_device_type = AV_HWDEVICE_TYPE_NONE, std::atomic<bool> *abort = nullptr);
+  bool load(const std::string &url, bool no_cuda = false, std::atomic<bool> *abort = nullptr);
   bool get(int idx, uint8_t *rgb, uint8_t *yuv);
   int getRGBSize() const { return width * height * 3; }
   int getYUVSize() const { return width * height * 3 / 2; }

diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc
@@ -102,7 +102,7 @@ int main(int argc, char *argv[]) {
       {"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"},
       {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
       {"yuv", REPLAY_FLAG_SEND_YUV, "send yuv frame"},
-      {"cuda", REPLAY_FLAG_CUDA, "enable CUDA accelerated decoding"},
+      {"no-cuda", REPLAY_FLAG_NO_CUDA, "disable CUDA"},
   };
 
   QCommandLineParser parser;

diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
@@ -23,9 +23,6 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
     }
   }
   qDebug() << "services " << s;
-  if (flags & REPLAY_FLAG_CUDA) {
-    qInfo() << "decode frames with CUDA";
-  }
 
   if (sm == nullptr) {
     pm = new PubMaster(s);

diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h
@@ -16,7 +16,7 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
   REPLAY_FLAG_QCAMERA = 0x0040,
   REPLAY_FLAG_SEND_YUV = 0x0080,
-  REPLAY_FLAG_CUDA = 0x0100,
+  REPLAY_FLAG_NO_CUDA = 0x0100,
 };
 
 class Replay : public QObject {

diff --git a/selfdrive/ui/replay/route.cc b/selfdrive/ui/replay/route.cc
@@ -119,9 +119,7 @@ void Segment::loadFile(int id, const std::string file) {
   bool success = false;
   if (id < MAX_CAMERAS) {
     frames[id] = std::make_unique<FrameReader>(local_cache, 20 * 1024 * 1024, 3);
-
-    AVHWDeviceType hw_device_type = flags & REPLAY_FLAG_CUDA ? AV_HWDEVICE_TYPE_CUDA : AV_HWDEVICE_TYPE_NONE;
-    success = frames[id]->load(file, hw_device_type, &abort_);
+    success = frames[id]->load(file, flags & REPLAY_FLAG_NO_CUDA, &abort_);
   } else {
     log = std::make_unique<LogReader>(local_cache, -1, 3);
     success = log->load(file, &abort_);