send frames based on encodeIdx

commaai · Sep 28, 2021 · f09cae6 · f09cae6
1 parent e888a7e
commit f09cae6
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Showing 4 changed files with 24 additions and 53 deletions.
diff --git a/selfdrive/ui/replay/logreader.cc b/selfdrive/ui/replay/logreader.cc
@@ -38,27 +38,10 @@ bool LogReader::load(const std::string &file) {
     return false;
   }
 
-  auto insertEidx = [&](CameraType type, const cereal::EncodeIndex::Reader &e) {
-    eidx[type][e.getFrameId()] = {e.getSegmentNum(), e.getSegmentId()};
-  };
-
   kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
   while (words.size() > 0) {
     try {
       std::unique_ptr<Event> evt = std::make_unique<Event>(words);
-      switch (evt->which) {
-        case cereal::Event::ROAD_ENCODE_IDX:
-          insertEidx(RoadCam, evt->event.getRoadEncodeIdx());
-          break;
-        case cereal::Event::DRIVER_ENCODE_IDX:
-          insertEidx(DriverCam, evt->event.getDriverEncodeIdx());
-          break;
-        case cereal::Event::WIDE_ROAD_ENCODE_IDX:
-          insertEidx(WideRoadCam, evt->event.getWideRoadEncodeIdx());
-          break;
-        default:
-          break;
-      }
       words = kj::arrayPtr(evt->reader.getEnd(), words.end());
       events.push_back(evt.release());
     } catch (const kj::Exception &e) {

diff --git a/selfdrive/ui/replay/logreader.h b/selfdrive/ui/replay/logreader.h
@@ -9,10 +9,7 @@
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
-struct EncodeIdx {
-  int segmentNum;
-  uint32_t frameEncodeId;
-};
+
 class Event {
 public:
   Event(cereal::Event::Which which, uint64_t mono_time) : reader(kj::ArrayPtr<capnp::word>{}) {
@@ -48,7 +45,6 @@ class LogReader {
   bool load(const std::string &file);
 
   std::vector<Event*> events;
-  std::unordered_map<uint32_t, EncodeIdx> eidx[MAX_CAMERAS] = {};
 
 private:
   std::vector<uint8_t> raw_;

diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc
@@ -122,15 +122,11 @@ void Replay::mergeSegments(int cur_seg, int end_idx) {
     segments_merged = segments_need_merge;
 
     std::vector<Event *> *new_events = new std::vector<Event *>();
-    std::unordered_map<uint32_t, EncodeIdx> *new_eidx = new std::unordered_map<uint32_t, EncodeIdx>[MAX_CAMERAS];
     for (int n : segments_need_merge) {
       auto &log = segments[n]->log;
       // merge & sort events
       auto middle = new_events->insert(new_events->end(), log->events.begin(), log->events.end());
       std::inplace_merge(new_events->begin(), middle, new_events->end(), Event::lessThan());
-      for (CameraType cam_type : ALL_CAMERAS) {
-        new_eidx[cam_type].insert(log->eidx[cam_type].begin(), log->eidx[cam_type].end());
-      }
     }
 
     // update logs
@@ -147,14 +143,12 @@ void Replay::mergeSegments(int cur_seg, int end_idx) {
     }
 
     auto prev_events = std::exchange(events, new_events);
-    auto prev_eidx = std::exchange(eidx, new_eidx);
     updating_events = false;
 
     lock.unlock();
 
     // free segments
     delete prev_events;
-    delete[] prev_eidx;
     for (int i = 0; i < segments.size(); i++) {
       if ((i < begin_idx || i > end_idx) && segments[i]) {
         segments[i].reset(nullptr);
@@ -216,30 +210,29 @@ void Replay::stream() {
 
         // publish frame
         // TODO: publish all frames
-        if (evt->which == cereal::Event::ROAD_CAMERA_STATE) {
-          auto it_ = eidx[RoadCam].find(evt->event.getRoadCameraState().getFrameId());
-          if (it_ != eidx[RoadCam].end()) {
-            EncodeIdx &e = it_->second;
-            auto &seg = segments[e.segmentNum]; 
-            if (seg && seg->isLoaded()) {
-              auto &frm = seg->frames[RoadCam];
-              if (vipc_server == nullptr) {
-                cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-                cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-
-                vipc_server = new VisionIpcServer("camerad", device_id, context);
-                vipc_server->create_buffers(VisionStreamType::VISION_STREAM_RGB_BACK, UI_BUF_COUNT,
-                                            true, frm->width, frm->height);
-                vipc_server->start_listener();
-              }
-
-              uint8_t *dat = frm->get(e.frameEncodeId);
-              if (dat) {
-                VisionIpcBufExtra extra = {};
-                VisionBuf *buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_RGB_BACK);
-                memcpy(buf->addr, dat, frm->getRGBSize());
-                vipc_server->send(buf, &extra, false);
-              }
+        if (evt->which == cereal::Event::ROAD_ENCODE_IDX) {
+          auto idx = evt->event.getRoadEncodeIdx();
+          auto &seg = segments[idx.getSegmentNum()];
+
+          if (seg && seg->isLoaded() && idx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+            auto &frm = seg->frames[RoadCam];
+
+            if (vipc_server == nullptr) {
+              cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+              cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+
+              vipc_server = new VisionIpcServer("camerad", device_id, context);
+              vipc_server->create_buffers(VisionStreamType::VISION_STREAM_RGB_BACK, UI_BUF_COUNT,
+                                          true, frm->width, frm->height);
+              vipc_server->start_listener();
+            }
+
+            uint8_t *dat = frm->get(idx.getSegmentId());
+            if (dat) {
+              VisionIpcBufExtra extra = {};
+              VisionBuf *buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_RGB_BACK);
+              memcpy(buf->addr, dat, frm->getRGBSize());
+              vipc_server->send(buf, &extra, false);
             }
           }
         }

diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h
@@ -50,7 +50,6 @@ protected slots:
   std::condition_variable stream_cv_;
   std::atomic<bool> updating_events = false;
   std::vector<Event *> *events = nullptr;
-  std::unordered_map<uint32_t, EncodeIdx> *eidx = nullptr;
   std::vector<std::unique_ptr<Segment>> segments;
   std::vector<int> segments_merged;