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main.cpp
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main.cpp
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#define MODULE_TAG "fpvue"
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <assert.h>
#include <time.h>
#include <string.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <pthread.h>
#include <unistd.h>
#include <inttypes.h>
#include <signal.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <pthread.h>
#include <sys/socket.h>
#include <sys/uio.h>
#include <sys/mman.h>
#include <xf86drm.h>
#include <xf86drmMode.h>
#include <drm_fourcc.h>
#include <linux/videodev2.h>
#include <rockchip/rk_mpi.h>
#include "linux/dma-buf.h"
#ifdef __cplusplus
extern "C" {
#endif
#include "main.h"
#include "drm.h"
#include "osd.h"
#include "rtp.h"
#include "mavlink/common/mavlink.h"
#include "mavlink.h"
#include "time_util.h"
#include "copy_util.h"
#ifdef __cplusplus
}
#endif
#ifdef __cplusplus
#include "gstrtpreceiver.h"
#include "SchedulingHelper.hpp"
#include "parse_x20_util.h"
#endif
// This buffer size has no effect on the latency -
// 5MB should be enough, no matter how high bitrate the stream is.
#define READ_BUF_SIZE (1024*1024*5) // SZ_1M https://github.com/rockchip-linux/mpp/blob/ed377c99a733e2cdbcc457a6aa3f0fcd438a9dff/osal/inc/mpp_common.h#L179
#define MAX_FRAMES 16 // min 16 and 20+ recommended (mpp/readme.txt)
#define CODEC_ALIGN(x, a) (((x)+(a)-1)&~((a)-1))
struct {
MppCtx ctx;
MppApi *mpi;
struct timespec first_frame_ts;
MppBufferGroup frm_grp;
struct {
int prime_fd;
uint32_t fb_id;
uint32_t handle;
// only used in copy mode
int memory_mmap_size;
} frame_to_drm[MAX_FRAMES];
} mpi;
struct timespec frame_stats[1000];
struct modeset_output *output_list;
int frm_eos = 0;
int drm_fd = 0;
pthread_mutex_t video_mutex;
pthread_cond_t video_cond;
// OSD Vars
struct video_stats {
int current_framerate;
uint64_t current_latency;
uint64_t max_latency;
uint64_t min_latency;
};
struct video_stats osd_stats;
int bw_curr = 0;
long long bw_stats[10];
int video_zpos = 1;
int develop_rendering_mode=0;
bool decode_h265=false;
int gst_udp_port=-1;
bool x20_force=false;
bool x20_auto=false;
struct TSAccumulator m_decoding_latency;
// NOTE: Does not track latency to end completely
struct TSAccumulator m_decode_and_handover_display_latency;
struct TSAccumulator m_drm_mode_set_plane_latency;
void start_sync(int fd,bool write){
struct dma_buf_sync sync;
sync.flags = DMA_BUF_SYNC_START | (write ? DMA_BUF_SYNC_WRITE : DMA_BUF_SYNC_READ);
int ret = ioctl(fd, DMA_BUF_IOCTL_SYNC, &sync);
if (ret) {
printf("start_sync ioctl failed for %s %d\n", strerror(errno), fd);
}
}
void end_sync(int fd,bool write){
struct dma_buf_sync sync;
sync.flags = DMA_BUF_SYNC_END | (write ? DMA_BUF_SYNC_WRITE : DMA_BUF_SYNC_READ);
int ret = ioctl(fd, DMA_BUF_IOCTL_SYNC, &sync);
if (ret) {
printf("end_sync ioctl failed for %s %d\n", strerror(errno), fd);
}
}
TSAccumulator m_map_copy_unmap_accumulator;
void map_copy_unmap(int fd_src,int fd_dst,int memory_size){
//printf("map_copy_unmap\n");
//printf("Memory size %d\n",memory_size);
uint8_t * test_buffer= (uint8_t*) malloc(1280*720*2);
assert(test_buffer!= nullptr);
uint64_t map_copy_unmap_begin=get_time_ms();
void * src_p=mmap(
0, memory_size, PROT_READ, MAP_PRIVATE,
fd_src, 0);
if (src_p == NULL || src_p == MAP_FAILED) {
assert(false);
}
void * dst_p=mmap(
0, memory_size, PROT_WRITE, MAP_SHARED,
fd_dst, 0);
if (dst_p == NULL || dst_p == MAP_FAILED) {
assert(false);
}
start_sync(fd_src,false);
start_sync(fd_dst,true);
// First, do the memset
/*uint64_t before_memset=get_time_ms();
char lol=get_time_ms() % 255;
memset(dst_p,lol,memory_size);
uint64_t elapsed_memset=get_time_ms()-before_memset;
print_time_ms("memset took",elapsed_memset);*/
//void* big_buff= malloc(memory_size);
//memcpy(dst_p,src_p,memory_size);
uint64_t before_memcpy=get_time_ms();
//memcpy_threaded(test_buffer,src_p,memory_size,3);
//memcpy_threaded(dst_p,test_buffer,memory_size,3);
memcpy_threaded(dst_p,src_p,memory_size,2);
end_sync(fd_src,false);
end_sync(fd_dst,true);
//uint64_t elapsed_memcpy=get_time_ms()-before_memcpy;
//print_time_ms("memcpy took",elapsed_memcpy);
uint64_t map_copy_unmap_elapsed=get_time_ms()-map_copy_unmap_begin;
accumulate_and_print("map_copy_unmap",map_copy_unmap_elapsed,&m_map_copy_unmap_accumulator);
//free(big_buff);
free(test_buffer);
}
void copy_mpp_buff(MppBuffer* src,MppBuffer* dst){
void *buf = mpp_buffer_get_ptr(*src);
}
void initialize_output_buffers(MppFrame frame){
int ret;
int i;
// new resolution
assert(!mpi.frm_grp);
output_list->video_frm_width = CODEC_ALIGN(mpp_frame_get_width(frame),16);
output_list->video_frm_height = CODEC_ALIGN(mpp_frame_get_height(frame),16);
RK_U32 hor_stride = mpp_frame_get_hor_stride(frame);
RK_U32 ver_stride = mpp_frame_get_ver_stride(frame);
MppFrameFormat fmt = mpp_frame_get_fmt(frame);
assert((fmt == MPP_FMT_YUV420SP) || (fmt == MPP_FMT_YUV420SP_10BIT));
printf("Frame info changed %d(%d)x%d(%d)\n", output_list->video_frm_width, hor_stride, output_list->video_frm_height, ver_stride);
output_list->video_fb_x = 0;
output_list->video_fb_y = 0;
output_list->video_fb_width = output_list->mode.hdisplay;
output_list->video_fb_height =output_list->mode.vdisplay;
osd_vars.video_width = output_list->video_frm_width;
osd_vars.video_height = output_list->video_frm_height;
// create new external frame group and allocate (commit flow) new DRM buffers and DRM FB
assert(!mpi.frm_grp);
ret = mpp_buffer_group_get_external(&mpi.frm_grp, MPP_BUFFER_TYPE_DRM);
assert(!ret);
for (i=0; i<MAX_FRAMES; i++) {
// new DRM buffer
struct drm_mode_create_dumb dmcd;
memset(&dmcd, 0, sizeof(dmcd));
dmcd.bpp = fmt==MPP_FMT_YUV420SP?8:10;
dmcd.width = hor_stride;
dmcd.height = ver_stride*2; // documentation say not v*2/3 but v*2 (additional info included)
do {
ret = ioctl(drm_fd, DRM_IOCTL_MODE_CREATE_DUMB, &dmcd);
} while (ret == -1 && (errno == EINTR || errno == EAGAIN));
assert(!ret);
//assert(dmcd.pitch==(fmt==MPP_FMT_YUV420SP?hor_stride:hor_stride*10/8));
//assert(dmcd.size==(fmt == MPP_FMT_YUV420SP?hor_stride:hor_stride*10/8)*ver_stride*2);
mpi.frame_to_drm[i].handle = dmcd.handle;
// commit DRM buffer to frame group
struct drm_prime_handle dph;
memset(&dph, 0, sizeof(struct drm_prime_handle));
dph.handle = dmcd.handle;
dph.fd = -1;
// added for mmap
dph.flags = DRM_CLOEXEC | DRM_RDWR;
do {
ret = ioctl(drm_fd, DRM_IOCTL_PRIME_HANDLE_TO_FD, &dph);
} while (ret == -1 && (errno == EINTR || errno == EAGAIN));
assert(!ret);
mpi.frame_to_drm[i].memory_mmap_size=dmcd.size;
printf("Buffer size bytes %d\n",(int)dmcd.size);
//
MppBufferInfo info;
memset(&info, 0, sizeof(info));
info.type = MPP_BUFFER_TYPE_DRM;
info.size = dmcd.width*dmcd.height;
info.fd = dph.fd;
ret = mpp_buffer_commit(mpi.frm_grp, &info);
assert(!ret);
mpi.frame_to_drm[i].prime_fd = info.fd; // dups fd
if (dph.fd != info.fd) {
ret = close(dph.fd);
assert(!ret);
}
// allocate DRM FB from DRM buffer
uint32_t handles[4], pitches[4], offsets[4];
memset(handles, 0, sizeof(handles));
memset(pitches, 0, sizeof(pitches));
memset(offsets, 0, sizeof(offsets));
handles[0] = mpi.frame_to_drm[i].handle;
offsets[0] = 0;
pitches[0] = hor_stride;
handles[1] = mpi.frame_to_drm[i].handle;
offsets[1] = pitches[0] * ver_stride;
pitches[1] = pitches[0];
ret = drmModeAddFB2(drm_fd, output_list->video_frm_width, output_list->video_frm_height, DRM_FORMAT_NV12, handles, pitches, offsets, &mpi.frame_to_drm[i].fb_id, 0);
assert(!ret);
}
// register external frame group
ret = mpi.mpi->control(mpi.ctx, MPP_DEC_SET_EXT_BUF_GROUP, mpi.frm_grp);
ret = mpi.mpi->control(mpi.ctx, MPP_DEC_SET_INFO_CHANGE_READY, NULL);
ret = modeset_perform_modeset(drm_fd, output_list, output_list->video_request, &output_list->video_plane, mpi.frame_to_drm[0].fb_id, output_list->video_frm_width, output_list->video_frm_height, video_zpos);
assert(ret >= 0);
}
// 'Live buffer hack'
void initialize_output_buffers_ion(MppFrame frame){
int ret;
int i;
// new resolution
assert(!mpi.frm_grp);
output_list->video_frm_width = CODEC_ALIGN(mpp_frame_get_width(frame),16);
output_list->video_frm_height = CODEC_ALIGN(mpp_frame_get_height(frame),16);
RK_U32 hor_stride = mpp_frame_get_hor_stride(frame);
RK_U32 ver_stride = mpp_frame_get_ver_stride(frame);
MppFrameFormat fmt = mpp_frame_get_fmt(frame);
assert((fmt == MPP_FMT_YUV420SP) || (fmt == MPP_FMT_YUV420SP_10BIT));
printf("Frame info changed %d(%d)x%d(%d)\n", output_list->video_frm_width, hor_stride, output_list->video_frm_height, ver_stride);
output_list->video_fb_x = 0;
output_list->video_fb_y = 0;
output_list->video_fb_width = output_list->mode.hdisplay;
output_list->video_fb_height =output_list->mode.vdisplay;
osd_vars.video_width = output_list->video_frm_width;
osd_vars.video_height = output_list->video_frm_height;
// create new external frame group and allocate (commit flow) new DRM buffers and DRM FB
assert(!mpi.frm_grp);
ret = mpp_buffer_group_get_external(&mpi.frm_grp, MPP_BUFFER_TYPE_ION);
assert(!ret);
int lol_width=0;
int lol_height=0;
// Specify how many actual buffer(s) to create
int n_drm_prime_buffers=1;
for(i=0;i<n_drm_prime_buffers;i++){
// new DRM buffer
struct drm_mode_create_dumb dmcd;
memset(&dmcd, 0, sizeof(dmcd));
dmcd.bpp = fmt==MPP_FMT_YUV420SP?8:10;
dmcd.width = hor_stride;
dmcd.height = ver_stride*2; // documentation say not v*2/3 but v*2 (additional info included)
do {
ret = ioctl(drm_fd, DRM_IOCTL_MODE_CREATE_DUMB, &dmcd);
} while (ret == -1 && (errno == EINTR || errno == EAGAIN));
assert(!ret);
//assert(dmcd.pitch==(fmt==MPP_FMT_YUV420SP?hor_stride:hor_stride*10/8));
//assert(dmcd.size==(fmt == MPP_FMT_YUV420SP?hor_stride:hor_stride*10/8)*ver_stride*2);
mpi.frame_to_drm[i].handle = dmcd.handle;
// commit DRM buffer to frame group
struct drm_prime_handle dph;
memset(&dph, 0, sizeof(struct drm_prime_handle));
dph.handle = dmcd.handle;
dph.fd = -1;
dph.flags = DRM_CLOEXEC | DRM_RDWR;
do {
ret = ioctl(drm_fd, DRM_IOCTL_PRIME_HANDLE_TO_FD, &dph);
} while (ret == -1 && (errno == EINTR || errno == EAGAIN));
assert(!ret);
//
mpi.frame_to_drm[i].prime_fd = dph.fd; // dups fd
lol_width=dmcd.width;
lol_height=dmcd.height;
// allocate DRM FB from DRM buffer
uint32_t handles[4], pitches[4], offsets[4];
memset(handles, 0, sizeof(handles));
memset(pitches, 0, sizeof(pitches));
memset(offsets, 0, sizeof(offsets));
handles[0] = mpi.frame_to_drm[i].handle;
offsets[0] = 0;
pitches[0] = hor_stride;
handles[1] = mpi.frame_to_drm[i].handle;
offsets[1] = pitches[0] * ver_stride;
pitches[1] = pitches[0];
ret = drmModeAddFB2(drm_fd, output_list->video_frm_width, output_list->video_frm_height, DRM_FORMAT_NV12, handles, pitches, offsets, &mpi.frame_to_drm[i].fb_id, 0);
assert(!ret);
}
// Can be different than n drm prime buffers.
// If for example only one drm prime buffer was created, we pass the same buffer fd to mpp on each mpp buffer.
for (i=0; i<16; i++) {
MppBufferInfo info;
memset(&info, 0, sizeof(info));
info.type = MPP_BUFFER_TYPE_ION;
info.size = lol_width*lol_height;
info.index = i;
// We pass the same buffer multiple time(s) if needed
int buffer_index = i % n_drm_prime_buffers;
int this_drm_prime_fd=mpi.frame_to_drm[buffer_index].prime_fd;
info.fd = this_drm_prime_fd;
ret = mpp_buffer_commit(mpi.frm_grp, &info);
assert(!ret);
if (this_drm_prime_fd != info.fd) {
// I have no idea why this happens ...
printf("mpp changed buffer fd from %d to %d\n",this_drm_prime_fd,info.fd);
}
}
// register external frame group
ret = mpi.mpi->control(mpi.ctx, MPP_DEC_SET_EXT_BUF_GROUP, mpi.frm_grp);
ret = mpi.mpi->control(mpi.ctx, MPP_DEC_SET_INFO_CHANGE_READY, NULL);
ret = modeset_perform_modeset(drm_fd, output_list, output_list->video_request, &output_list->video_plane, mpi.frame_to_drm[0].fb_id, output_list->video_frm_width, output_list->video_frm_height, video_zpos);
drmModeSetCrtc(
drm_fd, output_list->saved_crtc->crtc_id, mpi.frame_to_drm[0].fb_id,
0, 0,
&output_list->connector.id,
1,
&output_list->saved_crtc->mode);
assert(ret >= 0);
}
// First buffer is the one displayed, but not committed to mpp
void initialize_output_buffers_memcpy(MppFrame frame){
int ret;
int i;
// new resolution
assert(!mpi.frm_grp);
output_list->video_frm_width = CODEC_ALIGN(mpp_frame_get_width(frame),16);
output_list->video_frm_height = CODEC_ALIGN(mpp_frame_get_height(frame),16);
RK_U32 hor_stride = mpp_frame_get_hor_stride(frame);
RK_U32 ver_stride = mpp_frame_get_ver_stride(frame);
MppFrameFormat fmt = mpp_frame_get_fmt(frame);
assert((fmt == MPP_FMT_YUV420SP) || (fmt == MPP_FMT_YUV420SP_10BIT));
printf("Frame info changed %d(%d)x%d(%d)\n", output_list->video_frm_width, hor_stride, output_list->video_frm_height, ver_stride);
output_list->video_fb_x = 0;
output_list->video_fb_y = 0;
output_list->video_fb_width = output_list->mode.hdisplay;
output_list->video_fb_height =output_list->mode.vdisplay;
osd_vars.video_width = output_list->video_frm_width;
osd_vars.video_height = output_list->video_frm_height;
// create new external frame group and allocate (commit flow) new DRM buffers and DRM FB
assert(!mpi.frm_grp);
ret = mpp_buffer_group_get_external(&mpi.frm_grp, MPP_BUFFER_TYPE_DRM);
assert(!ret);
for (i=0; i<MAX_FRAMES; i++) {
// new DRM buffer
struct drm_mode_create_dumb dmcd;
memset(&dmcd, 0, sizeof(dmcd));
dmcd.bpp = fmt==MPP_FMT_YUV420SP?8:10;
dmcd.width = hor_stride;
dmcd.height = ver_stride*2; // documentation say not v*2/3 but v*2 (additional info included)
do {
ret = ioctl(drm_fd, DRM_IOCTL_MODE_CREATE_DUMB, &dmcd);
} while (ret == -1 && (errno == EINTR || errno == EAGAIN));
assert(!ret);
//assert(dmcd.pitch==(fmt==MPP_FMT_YUV420SP?hor_stride:hor_stride*10/8));
//assert(dmcd.size==(fmt == MPP_FMT_YUV420SP?hor_stride:hor_stride*10/8)*ver_stride*2);
mpi.frame_to_drm[i].handle = dmcd.handle;
// commit DRM buffer to frame group
struct drm_prime_handle dph;
memset(&dph, 0, sizeof(struct drm_prime_handle));
dph.handle = dmcd.handle;
dph.fd = -1;
// added for mmap
dph.flags = DRM_CLOEXEC | DRM_RDWR;
do {
ret = ioctl(drm_fd, DRM_IOCTL_PRIME_HANDLE_TO_FD, &dph);
} while (ret == -1 && (errno == EINTR || errno == EAGAIN));
assert(!ret);
mpi.frame_to_drm[i].memory_mmap_size=dmcd.size;
printf("Buffer size bytes %d\n",(int)dmcd.size);
//
if(i!=0){
MppBufferInfo info;
memset(&info, 0, sizeof(info));
info.type = MPP_BUFFER_TYPE_DRM;
info.size = dmcd.width*dmcd.height;
info.fd = dph.fd;
ret = mpp_buffer_commit(mpi.frm_grp, &info);
assert(!ret);
mpi.frame_to_drm[i].prime_fd = info.fd; // dups fd
if (dph.fd != info.fd) {
ret = close(dph.fd);
assert(!ret);
}
}else{
mpi.frame_to_drm[i].prime_fd = dph.fd; // dups fd
}
// allocate DRM FB from DRM buffer
uint32_t handles[4], pitches[4], offsets[4];
memset(handles, 0, sizeof(handles));
memset(pitches, 0, sizeof(pitches));
memset(offsets, 0, sizeof(offsets));
handles[0] = mpi.frame_to_drm[i].handle;
offsets[0] = 0;
pitches[0] = hor_stride;
handles[1] = mpi.frame_to_drm[i].handle;
offsets[1] = pitches[0] * ver_stride;
pitches[1] = pitches[0];
ret = drmModeAddFB2(drm_fd, output_list->video_frm_width, output_list->video_frm_height, DRM_FORMAT_NV12, handles, pitches, offsets, &mpi.frame_to_drm[i].fb_id, 0);
assert(!ret);
}
// register external frame group
ret = mpi.mpi->control(mpi.ctx, MPP_DEC_SET_EXT_BUF_GROUP, mpi.frm_grp);
ret = mpi.mpi->control(mpi.ctx, MPP_DEC_SET_INFO_CHANGE_READY, NULL);
ret = modeset_perform_modeset(drm_fd, output_list, output_list->video_request, &output_list->video_plane, mpi.frame_to_drm[0].fb_id, output_list->video_frm_width, output_list->video_frm_height, video_zpos);
assert(ret >= 0);
}
// __FRAME_THREAD__
//
// - allocate DRM buffers and DRM FB based on frame size
// - pick frame in blocking mode and output to screen overlay
void *__FRAME_THREAD__(void *param)
{
SchedulingHelper::set_thread_params_max_realtime("FRAME_THREAD",SchedulingHelper::PRIORITY_REALTIME_MID);
int ret;
int i;
MppFrame frame = NULL;
int frid = 0;
while (!frm_eos) {
struct timespec ts, ats;
assert(!frame);
ret = mpi.mpi->decode_get_frame(mpi.ctx, &frame);
assert(!ret);
clock_gettime(CLOCK_MONOTONIC, &ats);
if (frame) {
if (mpp_frame_get_info_change(frame)) {
// NOTE: This assertion will fail if the resolution has changed during decode - right now that's what we want since
// it is the easiest way to break out (and restart, with the new resolution)
assert(!mpi.frm_grp);
if(develop_rendering_mode==10){
initialize_output_buffers_ion(frame);
}else if(develop_rendering_mode==6) {
initialize_output_buffers_memcpy(frame);
}else {
initialize_output_buffers(frame);
}
} else {
// regular frame received
if (!mpi.first_frame_ts.tv_sec) {
ts = ats;
mpi.first_frame_ts = ats;
}
MppBuffer buffer = mpp_frame_get_buffer(frame);
if (buffer) {
//printf("Got frame\n");
output_list->video_poc = mpp_frame_get_poc(frame);
uint64_t feed_data_ts=mpp_frame_get_pts(frame);
uint64_t decoding_latency=get_time_ms()-feed_data_ts;
accumulate_and_print("Decode",decoding_latency,&m_decoding_latency);
//print_time_ms("Decode",decoding_latency);
if(develop_rendering_mode==10){
// Never commit anything in the display thread
}else{
// find fb_id by frame prime_fd
MppBufferInfo info;
ret = mpp_buffer_info_get(buffer, &info);
assert(!ret);
for (i=0; i<MAX_FRAMES; i++) {
if (mpi.frame_to_drm[i].prime_fd == info.fd) break;
}
assert(i!=MAX_FRAMES);
ts = ats;
frid++;
// send DRM FB to display thread
ret = pthread_mutex_lock(&video_mutex);
assert(!ret);
if (output_list->video_fb_id) output_list->video_skipped_frames++;
output_list->video_fb_id = mpi.frame_to_drm[i].fb_id;
output_list->video_fb_index=i;
output_list->decoding_pts=feed_data_ts;
ret = pthread_mutex_unlock(&video_mutex);
assert(!ret);
ret = pthread_cond_signal(&video_cond);
assert(!ret);
}
}
}
frm_eos = mpp_frame_get_eos(frame);
mpp_frame_deinit(&frame);
frame = NULL;
} else assert(0);
}
printf("Frame thread done.\n");
}
void *__DISPLAY_THREAD__(void *param)
{
// With the proper rendering mode(s) this thread
// doesn't hog the CPU
SchedulingHelper::set_thread_params_max_realtime("DisplayThread",SchedulingHelper::PRIORITY_REALTIME_LOW);
int ret;
int frame_counter = 0;
uint64_t latency_avg[200];
uint64_t min_latency = 1844674407370955161; // almost MAX_uint64_t
uint64_t max_latency = 0;
struct timespec fps_start, fps_end;
clock_gettime(CLOCK_MONOTONIC, &fps_start);
while (!frm_eos) {
int fb_id;
int fb_index;
ret = pthread_mutex_lock(&video_mutex);
assert(!ret);
while (output_list->video_fb_id==0) {
pthread_cond_wait(&video_cond, &video_mutex);
assert(!ret);
if (output_list->video_fb_id == 0 && frm_eos) {
ret = pthread_mutex_unlock(&video_mutex);
assert(!ret);
goto end;
}
}
struct timespec ts, ats;
clock_gettime(CLOCK_MONOTONIC, &ats);
fb_id = output_list->video_fb_id;
fb_index=output_list->video_fb_index;
uint64_t decoding_pts=output_list->decoding_pts;
if (output_list->video_skipped_frames)
printf("Display skipped %d frame.\n", output_list->video_skipped_frames);
output_list->video_fb_id=0;
output_list->video_skipped_frames=0;
ret = pthread_mutex_unlock(&video_mutex);
assert(!ret);
if(develop_rendering_mode==0){
// show DRM FB in plane
drmModeAtomicSetCursor(output_list->video_request, 0);
ret = set_drm_object_property(output_list->video_request, &output_list->video_plane, "FB_ID", fb_id);
assert(ret>0);
//ret = pthread_mutex_lock(&osd_mutex);
//assert(!ret);
//ret = set_drm_object_property(output_list->video_request, &output_list->osd_plane, "FB_ID", output_list->osd_bufs[output_list->osd_buf_switch].fb);
//assert(ret>0);
// DRM_MODE_ATOMIC_NONBLOCK | DRM_MODE_PAGE_FLIP_ASYNC
drmModeAtomicCommit(drm_fd, output_list->video_request, DRM_MODE_ATOMIC_NONBLOCK | DRM_MODE_ATOMIC_ALLOW_MODESET, NULL);
}else if(develop_rendering_mode==1){
static bool logged_once=false;
if(!logged_once){
printf("Not calling drmModeAtomicCommit\n");
logged_once=true;
}
}else if(develop_rendering_mode==2){
uint64_t before=get_time_ms();
drmModeSetCrtc(
drm_fd, output_list->saved_crtc->crtc_id, fb_id,
0, 0,
&output_list->connector.id,
1,
&output_list->saved_crtc->mode);
uint64_t elapsed_crtc=get_time_ms()-before;
print_time_ms("drmModeSetCrtc took",elapsed_crtc);
}else if (develop_rendering_mode==3){
uint64_t before=get_time_ms();
bool waiting=true;
//DRM_MODE_PAGE_FLIP_ASYNC | DRM_MODE_ATOMIC_ALLOW_MODESET
// ... breaks running qopenhd ...
drmModePageFlip(drm_fd, output_list->saved_crtc->crtc_id, fb_id,
DRM_MODE_PAGE_FLIP_EVENT | DRM_MODE_PAGE_FLIP_ASYNC,&waiting);
uint64_t elapsed_crtc=get_time_ms()-before;
drmEventContext ev;
memset(&ev, 0, sizeof(ev));
ev.version = DRM_EVENT_CONTEXT_VERSION;
ev.page_flip_handler = NULL;
ret = drmHandleEvent(drm_fd, &ev);
print_time_ms("drmModePageFlip took",elapsed_crtc);
}else if(develop_rendering_mode==4){
// Unmodded kernel: dual show, 30fps video
uint64_t before=get_time_ms();
ret = modeset_perform_modeset(drm_fd,
output_list, output_list->video_request, &output_list->video_plane,
fb_id,
output_list->video_frm_width,
output_list->video_frm_height,
video_zpos);
assert(ret >= 0);
uint64_t elapsed_modeset=get_time_ms()-before;
print_time_ms("modeset_perform_modeset took",elapsed_modeset);
}else if(develop_rendering_mode==5){
// Unmodded kernel: dual show, 30fps video
// maybe a bit more than 30fps
uint64_t before=get_time_ms();
ret = drmModeSetPlane(
drm_fd,
output_list->video_plane.id,
output_list->saved_crtc->crtc_id,
fb_id,
0,
0, 0,
output_list->video_crtc_width, output_list->video_crtc_height,
0, 0,
((uint16_t) output_list->video_frm_width) << 16, ((uint16_t) output_list->video_frm_height) << 16
);
uint64_t elapsed_modeset=get_time_ms()-before;
accumulate_and_print("drmModeSetPlane",elapsed_modeset,&m_drm_mode_set_plane_latency);
//print_time_ms("drmModeSetPlane took",elapsed_modeset);
}else if(develop_rendering_mode==6){
// memcpy
uint64_t before=get_time_ms();
if(fb_index!=0){
/*void* in_buffer_p=mpi.frame_to_drm[i].memory_mmap;
void* out_buffer_p=mpi.frame_to_drm[0].memory_mmap;
memcpy(out_buffer_p,in_buffer_p,mpi.frame_to_drm[0].memory_mmap_size/2);*/
int fd_src=mpi.frame_to_drm[fb_index].prime_fd;
int fd_dst=mpi.frame_to_drm[0].prime_fd;
map_copy_unmap(fd_src,fd_dst,mpi.frame_to_drm[0].memory_mmap_size);
}
uint64_t elapsed_memcpy=get_time_ms()-before;
//print_time_ms("memcpy took",elapsed_memcpy);
}else if(develop_rendering_mode==7){
// FPS - ?, no qopenhd
uint64_t before=get_time_ms();
extra_modeset_set_fb(drm_fd, output_list,&output_list->video_plane,
fb_id);
uint64_t elapsed_modeset=get_time_ms()-before;
print_time_ms("extra_modeset_perform_modeset took",elapsed_modeset);
}
else{
printf("Unknown rendering mdoe\n");
}
//ret = pthread_mutex_unlock(&osd_mutex);
uint64_t decode_and_handover_display_ms=get_time_ms()-decoding_pts;
accumulate_and_print("D&Display",decode_and_handover_display_ms,&m_decode_and_handover_display_latency);
//assert(!ret);
frame_counter++;
clock_gettime(CLOCK_MONOTONIC, &fps_end);
uint64_t time_us=(fps_end.tv_sec - fps_start.tv_sec)*1000000ll + ((fps_end.tv_nsec - fps_start.tv_nsec)/1000ll) % 1000000ll;
if (time_us >= osd_vars.refresh_frequency_ms*1000) {
uint64_t sum = 0;
for (int i = 0; i < frame_counter; ++i) {
sum += latency_avg[i];
if (latency_avg[i] > max_latency) {
max_latency = latency_avg[i];
}
if (latency_avg[i] < min_latency) {
min_latency = latency_avg[i];
}
}
osd_vars.latency_avg = sum / (frame_counter);
osd_vars.latency_max = max_latency;
osd_vars.latency_min = min_latency;
osd_vars.current_framerate = frame_counter*(1000/osd_vars.refresh_frequency_ms);
// printf("decoding decoding latency=%.2f ms (%.2f, %.2f), framerate=%d fps\n", osd_vars.latency_avg/1000.0, osd_vars.latency_max/1000.0, osd_vars.latency_min/1000.0, osd_vars.current_framerate);
fps_start = fps_end;
frame_counter = 0;
max_latency = 0;
min_latency = 1844674407370955161;
}
// NOTE: BUG video_poc out of bounds
//struct timespec rtime = frame_stats[output_list->video_poc];
//latency_avg[frame_counter] = (fps_end.tv_sec - rtime.tv_sec)*1000000ll + ((fps_end.tv_nsec - rtime.tv_nsec)/1000ll) % 1000000ll;
//printf("decoding current_latency=%.2f ms\n", latency_avg[frame_counter]/1000.0);
}
end:
printf("Display thread done.\n");
}
// signal
int signal_flag = 0;
void sig_handler(int signum)
{
printf("Received signal %d\n", signum);
signal_flag++;
mavlink_thread_signal++;
osd_thread_signal++;
}
int mpp_split_mode = 0;
int enable_dvr = 0;
const char * dvr_file;
int read_rtp_stream(int port, MppPacket *packet, uint8_t* nal_buffer) {
// Create socket
int socketFd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
struct sockaddr_in address;
memset(&address, 0x00, sizeof(address));
address.sin_family = AF_INET;
address.sin_port = htons(port);
bind(socketFd, (struct sockaddr*)&address, sizeof(struct sockaddr_in));
if (fcntl(socketFd, F_SETFL, O_NONBLOCK) == -1) {
printf("ERROR: Unable to set non-blocking mode\n");
return 1;
}
printf("listening on socket %d\n", port);
uint8_t* rx_buffer = (uint8_t*)malloc(READ_BUF_SIZE);
int nalStart = 0;
int poc = 0;
int ret = 0;
struct timespec recv_ts;
long long bytesReceived = 0;
uint8_t* nal;
FILE *out_h265 = NULL;
if (enable_dvr) {
if ((out_h265 = fopen(dvr_file,"w")) == NULL){
printf("ERROR: unable to open %s\n", dvr_file);
}
}
struct timespec bw_start, bw_end;
clock_gettime(CLOCK_MONOTONIC, &bw_start);
while (!signal_flag) {
ssize_t rx = recv(socketFd, rx_buffer+8, 4096, 0);
clock_gettime(CLOCK_MONOTONIC, &bw_end);
uint64_t time_us=(bw_end.tv_sec - bw_start.tv_sec)*1000000ll + ((bw_end.tv_nsec - bw_start.tv_nsec)/1000ll) % 1000000ll;
if (rx > 0) {
bytesReceived += rx;
}
if (time_us >= 1000000) {
bw_start = bw_end;
osd_vars.bw_curr = (osd_vars.bw_curr + 1) % 10;
osd_vars.bw_stats[osd_vars.bw_curr] = bytesReceived;
bytesReceived = 0;
}
if (rx <= 0) {
usleep(1);
continue;
}
if (nal) {
clock_gettime(CLOCK_MONOTONIC, &recv_ts);
}
uint32_t rtp_header = 0;
if (rx_buffer[8] & 0x80 && rx_buffer[9] & 0x60) {
rtp_header = 12;
}
// Decode frame
uint32_t nal_size = 0;
nal = decode_frame(rx_buffer + 8, rx, rtp_header, nal_buffer, &nal_size);
if (!nal) {
continue;
}
if (nal_size < 5) {
printf("> Broken frame\n");
break;
}
uint8_t nal_type_hevc = (nal[4] >> 1) & 0x3F;
if (nalStart==0 && nal_type_hevc == 1) { //hevc
continue;
}
nalStart = 1;
if (nal_type_hevc == 19) {
poc = 0;
}
frame_stats[poc]=recv_ts;
mpp_packet_set_pos(packet, nal); // only needed once
mpp_packet_set_length(packet, nal_size);
// send packet until it success
while (!signal_flag && MPP_OK != (ret = mpi.mpi->decode_put_packet(mpi.ctx, packet))) {
usleep(10000);
}
poc ++;
if (out_h265 != NULL) {
fwrite(nal, nal_size, 1, out_h265);
}
};
mpp_packet_set_eos(packet);
mpp_packet_set_pos(packet, nal_buffer);
mpp_packet_set_length(packet, 0);
while (MPP_OK != (ret = mpi.mpi->decode_put_packet(mpi.ctx, packet))) {
usleep(10000);
}
if (out_h265 != NULL) {
fclose(out_h265);
}
}
int decoder_stalled_count=0;
bool feed_packet_to_decoder(MppPacket *packet,void* data_p,int data_len){
mpp_packet_set_data(packet, data_p);
mpp_packet_set_size(packet, data_len);
mpp_packet_set_pos(packet, data_p);
mpp_packet_set_length(packet, data_len);
mpp_packet_set_pts(packet,(RK_S64) get_time_ms());
// Feed the data to mpp until either timeout (in which case the decoder might have stalled)
// or success
uint64_t data_feed_begin = get_time_ms();
int ret=0;
while (!signal_flag && MPP_OK != (ret = mpi.mpi->decode_put_packet(mpi.ctx, packet))) {
uint64_t elapsed = get_time_ms() - data_feed_begin;
if (elapsed > 100) {
decoder_stalled_count++;
printf("Cannot feed decoder, stalled %d ?\n",decoder_stalled_count);
return false;
}
usleep(2 * 1000);
}
return true;
}
void configure_x20(MppPacket *packet){
printf("Applying x20 hack\n");
FILE *fp = fopen("/usr/local/bin/x20_header.h264", "rb");
assert(fp);
fseek(fp, 0L, SEEK_END);
long size = ftell(fp);
fseek(fp, 0L, SEEK_SET);
assert(size>0);
std::vector<uint8_t> tmp_data(size);
long read_len=fread(tmp_data.data(), 1, size, fp);
assert(read_len==size);
fclose(fp);
feed_packet_to_decoder(packet,tmp_data.data(),size);
}
uint64_t first_frame_ms=0;
bool air_unit_discovery_finished= false;
void read_gstreamerpipe_stream(MppPacket *packet){
assert(gst_udp_port!=-1);
GstRtpReceiver receiver{gst_udp_port,decode_h265 ? 1 : 0};
auto cb=[&packet,&decoder_stalled_count](std::shared_ptr<std::vector<uint8_t>> frame){
//printf("Got data \n");
// Let the gst pull thread run at quite high priority
static bool first= false;
if(first){
SchedulingHelper::set_thread_params_max_realtime("DisplayThread",SchedulingHelper::PRIORITY_REALTIME_LOW);
first= false;
}
if(!x20_force && x20_auto){
// X20 auto detection
if(!air_unit_discovery_finished){
const int x20_check=check_for_x20(frame->data(),frame->size());
if(x20_check==1){
// We have an x20
configure_x20(packet);
air_unit_discovery_finished= true;
}else if(x20_check==2){
// We have no x20 (definitely)
air_unit_discovery_finished= true;
}else{
// Unknown if x20 or not
// As a bup, we assume no x20 after X seconds
if(first_frame_ms==0){
first_frame_ms=get_time_ms();
return ;
}else{
const auto elapsed=get_time_ms()-first_frame_ms;
if(elapsed>5*1000){
// Assume no x20
printf("X20 or not unknown for > 5 seconds\n");
air_unit_discovery_finished= true;
}else{
// Skip this frame
return ;
}
}
}
}
}
feed_packet_to_decoder(packet,frame->data(),frame->size());
};
if(x20_force){
configure_x20(packet);
}
receiver.start_receiving(cb);
while (!signal_flag){
sleep(1);
}
receiver.stop_receiving();
printf("Feeding eos\n");
mpp_packet_set_eos(packet);
//mpp_packet_set_pos(packet, nal_buffer);
mpp_packet_set_length(packet, 0);
int ret=0;
while (MPP_OK != (ret = mpi.mpi->decode_put_packet(mpi.ctx, packet))) {
usleep(10000);
}
};
int read_filesrc_stream(MppPacket *packet) {
/*FILE* fp = fopen("urghs.h264", "rb");
if(!fp){
printf("File not found\n");
return 0;
}*/
FILE* fp=stdin;
int filedesc=fileno(fp);
assert(filedesc==0);
//fcntl(filedesc, F_SETFL, fcntl(filedesc, F_GETFL) | O_NONBLOCK);
/*fd_set set;
struct timeval timeout;
FD_ZERO(&set);
FD_SET(filedesc, &set);
timeout.tv_sec = 0;
timeout.tv_usec = 20*1000;*/
uint8_t data[READ_BUF_SIZE];
void* data_p=&data;
int data_len=0;
int ret = 0;
while (!signal_flag){
/*int rv = select(filedesc + 1, &set, NULL, NULL, &timeout);
if(rv == -1){
perror("select\n");
}else if(rv == 0) {
//printf("timeout\n");
}else {*/
//printf("Data\n");
// data to read
//data_len = fread(data_p, 1, READ_BUF_SIZE, fp);
//data_len = read(filedesc,data_p,READ_BUF_SIZE);